From 90276fa3a7b9c0f409599f007bebc6612904b922 Mon Sep 17 00:00:00 2001 From: sander Date: Wed, 3 Feb 2016 22:12:39 +0100 Subject: [PATCH] VTOL: check feasibility as rotary wing --- src/modules/navigator/mission.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index 929e08ae02..ef2c787400 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -257,7 +257,7 @@ Mission::update_offboard_mission() * however warnings are issued to the gcs via mavlink from inside the MissionFeasiblityChecker */ dm_item_t dm_current = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id); - failed = !_missionFeasibilityChecker.checkMissionFeasible(_navigator->get_mavlink_fd(), _navigator->get_vstatus()->is_rotary_wing, + failed = !_missionFeasibilityChecker.checkMissionFeasible(_navigator->get_mavlink_fd(), (_navigator->get_vstatus()->is_rotary_wing || _navigator->get_vstatus()->is_vtol), dm_current, (size_t) _offboard_mission.count, _navigator->get_geofence(), _navigator->get_home_position()->alt, _navigator->home_position_valid(), _navigator->get_global_position()->lat, _navigator->get_global_position()->lon, @@ -1027,7 +1027,7 @@ Mission::check_mission_valid() dm_item_t dm_current = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id); - _navigator->get_mission_result()->valid = _missionFeasibilityChecker.checkMissionFeasible(_navigator->get_mavlink_fd(), _navigator->get_vstatus()->is_rotary_wing, + _navigator->get_mission_result()->valid = _missionFeasibilityChecker.checkMissionFeasible(_navigator->get_mavlink_fd(), (_navigator->get_vstatus()->is_rotary_wing || _navigator->get_vstatus()->is_vtol), dm_current, (size_t) _offboard_mission.count, _navigator->get_geofence(), _navigator->get_home_position()->alt, _navigator->home_position_valid(), _navigator->get_global_position()->lat, _navigator->get_global_position()->lon,