mission_base: Force mission validity check on activation

PX4 · Mar 8, 2024 · 04099ed · 04099ed
1 parent 1aa26a5
commit 04099ed
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Showing 2 changed files with 10 additions and 7 deletions.
diff --git a/src/modules/navigator/mission_base.cpp b/src/modules/navigator/mission_base.cpp
@@ -207,7 +207,7 @@ MissionBase::on_activation()
 	_mission_has_been_activated = true;
 	_system_disarmed_while_inactive = false;
 
-	check_mission_valid();
+	check_mission_valid(true);
 
 	update_mission();
 
@@ -687,11 +687,13 @@ MissionBase::checkMissionRestart()
 }
 
 void
-MissionBase::check_mission_valid()
+MissionBase::check_mission_valid(bool forced)
 {
-	if ((_navigator->get_mission_result()->mission_id != _mission.mission_id)
-	    || (_navigator->get_mission_result()->geofence_id != _mission.geofence_id)
-	    || (_navigator->get_mission_result()->home_position_counter != _navigator->get_home_position()->update_count)) {
+	// Allow forcing it, since we currently not rechecking if parameters have changed.
+	if (forced ||
+	    (_navigator->get_mission_result()->mission_id != _mission.mission_id) ||
+	    (_navigator->get_mission_result()->geofence_id != _mission.geofence_id) ||
+	    (_navigator->get_mission_result()->home_position_counter != _navigator->get_home_position()->update_count)) {
 
 		_navigator->get_mission_result()->mission_id = _mission.mission_id;
 		_navigator->get_mission_result()->geofence_id = _mission.geofence_id;

diff --git a/src/modules/navigator/mission_base.h b/src/modules/navigator/mission_base.h
@@ -342,9 +342,10 @@ class MissionBase : public MissionBlock, public ModuleParams
 	void updateMavlinkMission();
 
 	/**
-	 * Check whether a mission is ready to go
+	 * @brief Check whether a mission is ready to go
+	 * @param[in] forced flag if the check has to be run irregardles of any updates.
 	 */
-	void check_mission_valid();
+	void check_mission_valid(bool forced = false);
 
 	/**
 	 * Reset mission