mission: The mission check not reevaluated for RTL

[KonradRudin]

Solved Problem

A mission on RTL mission landing can not be executed, when the mission is invalid on activation (e.g. when the vehicle in the meantime is too far away to pass the first mission item).

Solution

• We need to make sure that when the RTL is triggered, it should not reevaluate it, as when it was valid but evaluated to false on activation, it can't do a RTL.

Changelog Entry

For release notes:

Bugfix Fix a mission RTL not being executed if mission validity changes.

Alternatives

This is only a quick fix for the problem. The mission validity should not change depending on the vehicle current position. If it is evaluated once for the takeoff/current position, it should not reevaluate it. Also the mission feasibility checker should be run separately when any of the relevant data changes (mission, geofence, parameters, etc.). So the state of the mission validity is always known.

Test coverage

Context

Related links, screenshot before/after, video