fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-03 15:28:53 +08:00
Code Issues Packages Projects Releases Wiki Activity

MissionFeasibilityChecker: remove below home check (#22624)

Browse Source 
This check gave a warning when one or more mission items were below the
Home altitude. As it is a valid usecase to plan missions below Home,
those warnings were too often seen as a inconvenience and are thus
removed here.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2024-01-12 09:53:14 +01:00
committed by GitHub
parent 3b54a06567
commit 12997020a4
2 changed files with 0 additions and 31 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp
-20
View File
@@ -58,7 +58,6 @@ void FeasibilityChecker::reset()
_land_pattern_validity_failed = false; _land_pattern_validity_failed = false;
_distance_first_waypoint_failed = false; _distance_first_waypoint_failed = false;
_distance_between_waypoints_failed = false; _distance_between_waypoints_failed = false;
_below_home_alt_failed = false;
_fixed_wing_land_approach_failed = false; _fixed_wing_land_approach_failed = false;
_takeoff_land_available_failed = false; _takeoff_land_available_failed = false;
@@ -199,10 +198,6 @@ void FeasibilityChecker::doCommonChecks(mission_item_s &mission_item, const int
_distance_first_waypoint_failed = !checkHorizontalDistanceToFirstWaypoint(mission_item); _distance_first_waypoint_failed = !checkHorizontalDistanceToFirstWaypoint(mission_item);
} }
if (!_below_home_alt_failed) {
_below_home_alt_failed = !checkIfBelowHomeAltitude(mission_item, current_index);
}
if (!_takeoff_failed) { if (!_takeoff_failed) {
_takeoff_failed = !checkTakeoff(mission_item); _takeoff_failed = !checkTakeoff(mission_item);
} }
@@ -682,21 +677,6 @@ bool FeasibilityChecker::checkDistancesBetweenWaypoints(const mission_item_s &mi
return true; return true;
} }
bool FeasibilityChecker::checkIfBelowHomeAltitude(const mission_item_s &mission_item, const int current_index)
{
/* calculate the global waypoint altitude */
float wp_alt = (mission_item.altitude_is_relative) ? mission_item.altitude + _home_alt_msl : mission_item.altitude;
if (PX4_ISFINITE(_home_alt_msl) && _home_alt_msl > wp_alt && MissionBlock::item_contains_position(mission_item)) {
mavlink_log_critical(_mavlink_log_pub, "Warning: Waypoint %d below home\t", current_index + 1);
events::send<int16_t>(events::ID("navigator_mis_wp_below_home"), {events::Log::Warning, events::LogInternal::Info},
"Waypoint {1} below home", current_index + 1);
}
return true;
}
bool FeasibilityChecker::checkItemsFitToVehicleType(const mission_item_s &mission_item) bool FeasibilityChecker::checkItemsFitToVehicleType(const mission_item_s &mission_item)
{ {
if (_vehicle_type != VehicleType::Vtol && if (_vehicle_type != VehicleType::Vtol &&
src/modules/navigator/MissionFeasibility/FeasibilityChecker.hpp
-11
View File
@@ -81,7 +81,6 @@ public:
_distance_between_waypoints_failed || _distance_between_waypoints_failed ||
_land_pattern_validity_failed || _land_pattern_validity_failed ||
_fixed_wing_land_approach_failed || _fixed_wing_land_approach_failed ||
_below_home_alt_failed ||
_mission_validity_failed || _mission_validity_failed ||
_takeoff_land_available_failed; _takeoff_land_available_failed;
} }
@@ -117,7 +116,6 @@ private:
bool _land_pattern_validity_failed{false}; bool _land_pattern_validity_failed{false};
bool _distance_first_waypoint_failed{false}; bool _distance_first_waypoint_failed{false};
bool _distance_between_waypoints_failed{false}; bool _distance_between_waypoints_failed{false};
bool _below_home_alt_failed{false};
bool _fixed_wing_land_approach_failed{false}; bool _fixed_wing_land_approach_failed{false};
bool _takeoff_land_available_failed{false}; bool _takeoff_land_available_failed{false};
bool _items_fit_to_vehicle_type_failed{false}; bool _items_fit_to_vehicle_type_failed{false};
@@ -198,15 +196,6 @@ private:
*/ */
bool checkDistancesBetweenWaypoints(const mission_item_s &mission_item); bool checkDistancesBetweenWaypoints(const mission_item_s &mission_item);
/**
* @brief Check if any waypoint is below the home altitude. Issues warning only.
*
* @param mission_item The current mission item
* @param current_index The current mission index
* @return Always returns true, only issues warning.
*/
bool checkIfBelowHomeAltitude(const mission_item_s &mission_item, const int current_index);
/** /**
* @brief Check fixed wing land approach (fixed wing only) * @brief Check fixed wing land approach (fixed wing only)
* *