From 8de675ec8898a86100de6b5d146cfadc81b6938e Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Tue, 28 Jan 2020 13:43:37 +0100 Subject: [PATCH] mission feasibilty check: fix for VTOL backtransition and land waypoint Prior this fix VTOL missions get rejected if they have a DO_LAND_START marker, but then do not end with a LAND waypoint but a VTOL transition and land. Signed-off-by: Silvan Fuhrer --- src/modules/navigator/mission_feasibility_checker.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp index 203e48b451..4e302173da 100644 --- a/src/modules/navigator/mission_feasibility_checker.cpp +++ b/src/modules/navigator/mission_feasibility_checker.cpp @@ -568,7 +568,7 @@ MissionFeasibilityChecker::checkVTOLLanding(const mission_s &mission, bool land_ } } - if (missionitem.nav_cmd == NAV_CMD_LAND) { + if (missionitem.nav_cmd == NAV_CMD_LAND || missionitem.nav_cmd == NAV_CMD_VTOL_LAND) { mission_item_s missionitem_previous {}; if (i > 0) {