MissionFeasibilityChecker geofence ignore NAV_CMD_DO_*

-closes #4040

src/modules/navigator/mission_block.cpp

@@ -318,11 +318,13 @@ bool
 MissionBlock::item_contains_position(const struct mission_item_s *item)
 {
 	// XXX: maybe extend that check onto item properties
-	if (item->nav_cmd == NAV_CMD_DO_DIGICAM_CONTROL ||
+	if (item->nav_cmd == NAV_CMD_DO_JUMP ||
-			item->nav_cmd == NAV_CMD_DO_SET_CAM_TRIGG_DIST ||
+		item->nav_cmd == NAV_CMD_DO_CHANGE_SPEED ||
-			item->nav_cmd == NAV_CMD_DO_VTOL_TRANSITION ||
+		item->nav_cmd == NAV_CMD_DO_SET_SERVO ||
-			item->nav_cmd == NAV_CMD_DO_SET_SERVO ||
+		item->nav_cmd == NAV_CMD_DO_REPEAT_SERVO ||
-			item->nav_cmd == NAV_CMD_DO_CHANGE_SPEED) {
+		item->nav_cmd == NAV_CMD_DO_DIGICAM_CONTROL ||
+		item->nav_cmd == NAV_CMD_DO_SET_CAM_TRIGG_DIST ||
+		item->nav_cmd == NAV_CMD_DO_VTOL_TRANSITION) {
 		return false;
 	}
 

src/modules/navigator/mission_block.h

@@ -67,6 +67,8 @@ public:
 	 */
 	virtual ~MissionBlock();
 
+	static bool item_contains_position(const struct mission_item_s *item);
+
 protected:
 	/**
 	 * Check if mission item has been reached
@@ -78,8 +80,6 @@ protected:
 	 */
 	void reset_mission_item_reached();
 
-	bool item_contains_position(const struct mission_item_s *item);
-
 	/**
 	 * Convert a mission item to a position setpoint
 	 *

src/modules/navigator/mission_feasibility_checker.cpp

@@ -41,6 +41,7 @@
 
 #include "mission_feasibility_checker.h"
 
+#include "mission_block.h"
 #include <geo/geo.h>
 #include <math.h>
 #include <mathlib/mathlib.h>
@@ -161,7 +162,9 @@ bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMiss
 				return false;
 			}
 
-			if (!geofence.inside_polygon(missionitem.lat, missionitem.lon, missionitem.altitude)) {
+			if (MissionBlock::item_contains_position(&missionitem) &&
+				!geofence.inside_polygon(missionitem.lat, missionitem.lon, missionitem.altitude)) {
+
 				mavlink_log_critical(_mavlink_fd, "Geofence violation for waypoint %d", i);
 				return false;
 			}