Fix mission with LAND_START and RTL item #13734
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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.
This is a check to protect a user from upload a mission which includes a land_start marker as well as a RTL mission item. This works around the problem that we experienced where the navigator would switch to mission mode on RTL and start with land_start, and then continue to the RTL item. At this point, navigator would send the vehicle_command for RTL to commander which would deny it because it is already in RTL mode. Thus navigator won't (re)set any items to actually do RTL and it means the vehicle will just head to whatever setpoint it received last.
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Thanks for looking into this @julianoes . I agree that a mission feasibility check makes sense here, as there is really no point in planning a mission with a land start marker and then a RTL waypoint. While testing it I though run into issues with the Fixed wing feasibility checker, as it now checks the mission for an appropriate FW landing approach (which ofc doesn't need to be there for a VTOL). We thus should exclude this check for VTOL. |
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@sfuhrer but I thought I disabled that it requires a landing point here: What mission are you uploading to cause this? |
…te function Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
You just disabled the check for "having a land start marker", but if missions contain one then all the FW landing checks still run. I've added another commit with the VTOL landing checks in a separate function. What do you think @julianoes ? |
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Makes sense, thanks @sfuhrer! |
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Was this closed intentionally? |
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No, that was a weird Github interaction. |
This prevents a corner case when a VTOL user has set a LAND_START item as well as checked the box to end the mission with RTL.
What happens on RTL is that navigator would switch to mission mode on RTL and start with land_start, and then continue to the RTL item. At this point, navigator would send the vehicle_command for RTL to commander which would deny it because it is already in RTL mode. Thus navigator won't (re)set any items to actually do RTL and it means the vehicle will just head to whatever setpoint it received last.
This PR fixes this corner case by:
Tested in SITL.
Discovered by @sfuhrer.