added check for vtol

Signed-off-by: RomanBapst <[email protected]>
PX4 · Dec 20, 2024 · b9b82ec · b9b82ec
1 parent aeae546
commit b9b82ec
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Showing 3 changed files with 3 additions and 3 deletions.
diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
@@ -215,7 +215,7 @@ void Mission::setActiveMissionItems()
 						   && isLanding() &&
 						   _mission_item.nav_cmd == NAV_CMD_WAYPOINT;
 		const bool mc_landing_after_transition = _vehicle_status_sub.get().vehicle_type ==
-				vehicle_status_s::VEHICLE_TYPE_ROTARY_WING &&
+				vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && _vehicle_status_sub.get().is_vtol &&
 				new_work_item_type == WorkItemType::WORK_ITEM_TYPE_MOVE_TO_LAND;
 
 		if (fw_on_mission_landing || mc_landing_after_transition) {

diff --git a/src/modules/navigator/rtl_direct_mission_land.cpp b/src/modules/navigator/rtl_direct_mission_land.cpp
@@ -219,7 +219,7 @@ void RtlDirectMissionLand::setActiveMissionItems()
 						   && isLanding() &&
 						   _mission_item.nav_cmd == NAV_CMD_WAYPOINT;
 		const bool mc_landing_after_transition = _vehicle_status_sub.get().vehicle_type ==
-				vehicle_status_s::VEHICLE_TYPE_ROTARY_WING &&
+				vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && _vehicle_status_sub.get().is_vtol &&
 				new_work_item_type == WorkItemType::WORK_ITEM_TYPE_MOVE_TO_LAND;
 
 		if (fw_on_mission_landing || mc_landing_after_transition) {

diff --git a/src/modules/navigator/rtl_mission_fast_reverse.cpp b/src/modules/navigator/rtl_mission_fast_reverse.cpp
@@ -156,7 +156,7 @@ void RtlMissionFastReverse::setActiveMissionItems()
 
 		mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
 		const bool mc_landing_after_transition = _vehicle_status_sub.get().vehicle_type ==
-				vehicle_status_s::VEHICLE_TYPE_ROTARY_WING &&
+				vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && _vehicle_status_sub.get().is_vtol &&
 				new_work_item_type == WorkItemType::WORK_ITEM_TYPE_MOVE_TO_LAND;
 
 		if (mc_landing_after_transition) {