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mission require valid landing after DO_LAND_START

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This commit is contained in:
Daniel Agar
2017-04-16 21:16:47 -04:00
parent 56b028148b
commit ed1b442065
14 changed files with 343 additions and 350 deletions
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src/modules/commander/commander.cpp
+3 -2
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@@ -2477,8 +2477,8 @@ int commander_thread_main(int argc, char *argv[])
status_flags.condition_auto_mission_available = _mission_result.valid && !_mission_result.finished;
if (status.mission_failure != _mission_result.mission_failure) {
status.mission_failure = _mission_result.mission_failure;
if (status.mission_failure != _mission_result.failure) {
status.mission_failure = _mission_result.failure;
status_changed = true;
if (status.mission_failure) {
@@ -2625,6 +2625,7 @@ int commander_thread_main(int argc, char *argv[])
if (status_flags.condition_home_position_valid &&
(hrt_elapsed_time(&_home.timestamp) > 2000000) &&
_last_mission_instance != _mission_result.instance_count) {
if (!_mission_result.valid) {
/* the mission is invalid */
tune_mission_fail(true);