commander sets vstatus.condition_landed = false for fw systems (until we have a landing detector): solves multiple issues with the state machine in the navigator app

2 files changed, 9 insertions, 8 deletions

diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index e9da69232..aca3f6256 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -926,10 +926,12 @@ int commander_thread_main(int argc, char *argv[])
 		check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.xy_valid, &(status.condition_local_position_valid), &status_changed);
 		check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.z_valid, &(status.condition_local_altitude_valid), &status_changed);
 
+		static bool published_condition_landed_fw = false;
 		if (status.is_rotary_wing && status.condition_local_altitude_valid) {
 			if (status.condition_landed != local_position.landed) {
 				status.condition_landed = local_position.landed;
 				status_changed = true;
+				published_condition_landed_fw = false; //make sure condition_landed is published again if the system type changes
 
 				if (status.condition_landed) {
 					mavlink_log_critical(mavlink_fd, "#audio: LANDED");
@@ -938,6 +940,12 @@ int commander_thread_main(int argc, char *argv[])
 					mavlink_log_critical(mavlink_fd, "#audio: IN AIR");
 				}
 			}
+		} else {
+			if (!published_condition_landed_fw) {
+				status.condition_landed = false; // Fixedwing does not have a landing detector currently
+				published_condition_landed_fw = true;
+				status_changed = true;
+			}
 		}
 
 		/* update battery status */
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 114776327..3ef2009c7 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -1443,14 +1443,7 @@ Navigator::check_mission_item_reached()
 	}
 
 	if (_mission_item.nav_cmd == NAV_CMD_LAND) {
-		if (_vstatus.is_rotary_wing) {
-			return _vstatus.condition_landed;
-
-		} else {
-			/* For fw there is currently no landing detector:
-			 * make sure control is not stopped when overshooting the landing waypoint */
-			return false;
-		}
+		return _vstatus.condition_landed;
 	}
 
 	/* XXX TODO count turns */