From f8c10b706ad88baf223016a260156cff334d01c5 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Thu, 12 Dec 2019 13:47:25 +0100 Subject: [PATCH] navigator: check fixedwing mission for VTOL A VTOL mission can also contain a fixedwing landing. Therefore, I think, it makes sense to run the fixedwing checks as well, however, don't check for a landing start necessarily. --- src/modules/navigator/mission_feasibility_checker.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp index 86ddef9baa..3d48b53a55 100644 --- a/src/modules/navigator/mission_feasibility_checker.cpp +++ b/src/modules/navigator/mission_feasibility_checker.cpp @@ -87,6 +87,10 @@ MissionFeasibilityChecker::checkMissionFeasible(const mission_s &mission, || _navigator->get_vstatus()->is_vtol) { failed = failed || !checkRotarywing(mission, home_alt); + if (_navigator->get_vstatus()->is_vtol) { + failed = failed || !checkFixedwing(mission, home_alt, false); + } + } else { failed = failed || !checkFixedwing(mission, home_alt, land_start_req); }