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navigator: check fixedwing mission for VTOL
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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.
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julianoes committed Dec 16, 2019
1 parent 4bcdf56 commit 660ad5e
Showing 1 changed file with 4 additions and 0 deletions.
4 changes: 4 additions & 0 deletions src/modules/navigator/mission_feasibility_checker.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -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);
}
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