navigator: improve if structure for vtol/mc/fw

PX4 · Dec 23, 2019 · 3a37d0b · 3a37d0b
1 parent f9aa12e
commit 3a37d0b
Showing 1 changed file with 4 additions and 6 deletions.
diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp
@@ -82,14 +82,12 @@ MissionFeasibilityChecker::checkMissionFeasible(const mission_s &mission,
 	failed = failed || !checkGeofence(mission, home_alt, home_valid);
 	failed = failed || !checkHomePositionAltitude(mission, home_alt, home_alt_valid, warned);
 
-	// VTOL always respects rotary wing feasibility
-	if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
-	    || _navigator->get_vstatus()->is_vtol) {
+	if (_navigator->get_vstatus()->is_vtol) {
 		failed = failed || !checkRotarywing(mission, home_alt);
+		failed = failed || !checkFixedwing(mission, home_alt, false);
 
-		if (_navigator->get_vstatus()->is_vtol) {
-			failed = failed || !checkFixedwing(mission, home_alt, false);
-		}
+	} else if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
+		failed = failed || !checkRotarywing(mission, home_alt);
 
 	} else {
 		failed = failed || !checkFixedwing(mission, home_alt, land_start_req);