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multirotor mission feasibility checks:

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make sure that the relative altitude of the takeoff waypoint is
at least one meter higher than the acceptance radius of the waypoint.
This makes sure that the takeoff waypoint is not reached before the vehicle
is at least one meter in the air.
This commit is contained in:
tumbili
2016-01-17 13:09:28 +01:00
committed by Roman
parent 170f9aec49
commit 07fafc4913
3 changed files with 41 additions and 8 deletions
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src/modules/navigator/mission.cpp
+2 -2
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@@ -259,7 +259,7 @@ Mission::update_offboard_mission()
dm_current, (size_t) _offboard_mission.count, _navigator->get_geofence(),
_navigator->get_home_position()->alt, _navigator->home_position_valid(),
_navigator->get_global_position()->lat, _navigator->get_global_position()->lon,
_param_dist_1wp.get(), _navigator->get_mission_result()->warning);
_param_dist_1wp.get(), _navigator->get_mission_result()->warning, _navigator->get_acceptance_radius());
_navigator->get_mission_result()->valid = !failed;
_navigator->increment_mission_instance_count();
@@ -843,7 +843,7 @@ Mission::check_mission_valid()
dm_current, (size_t) _offboard_mission.count, _navigator->get_geofence(),
_navigator->get_home_position()->alt, _navigator->home_position_valid(),
_navigator->get_global_position()->lat, _navigator->get_global_position()->lon,
_param_dist_1wp.get(), _navigator->get_mission_result()->warning);
_param_dist_1wp.get(), _navigator->get_mission_result()->warning, _navigator->get_acceptance_radius());
_navigator->increment_mission_instance_count();
_navigator->set_mission_result_updated();