RT: only chose mission RTL if mission is valid

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
PX4 · Apr 11, 2024 · 926e787 · 926e787
1 parent 5fab21d
commit 926e787
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Showing 2 changed files with 7 additions and 1 deletion.
diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp
@@ -617,7 +617,8 @@ void RTL::parameters_update()
 
 bool RTL::hasMissionLandStart() const
 {
-	return _mission_sub.get().land_start_index >= 0 && _mission_sub.get().land_index >= 0;
+	return _mission_sub.get().land_start_index >= 0 && _mission_sub.get().land_index >= 0
+	       && _navigator->get_mission_result()->valid;
 }
 
 bool RTL::hasVtolLandApproach(const PositionYawSetpoint &rtl_position) const

diff --git a/src/modules/navigator/rtl.h b/src/modules/navigator/rtl.h
@@ -97,6 +97,11 @@ class RTL : public NavigatorMode, public ModuleParams
 	};
 
 private:
+
+	/**
+	 * @brief Check mission landing validity
+	 * @return true if mission has a land start, a land and is valid
+	 */
 	bool hasMissionLandStart() const;
 
 	/**