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Navigator: MissionFeasibilityCheck: Rework 1st waypoint check (#23568)

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* FeasibilityChecker: only warn when first waypoint is too far, but still accept mission as valid

* feasiblityChecker: make distance to first waypoint check against home position instead of current position, so it is more constant during a flight

* Apply suggestions from code review

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>

* feasibilityCheckerTest: update tests to not fail for first waypoint check

* feasibilityChecker: make comment for 1stwaypointcheck event

* Feasibility check unit test: fix comment

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
KonradRudin
2024-08-21 09:08:36 +02:00
committed by GitHub
co-authored by Silvan Fuhrer
parent f252e20eae
commit 3478765c31
4 changed files with 19 additions and 30 deletions
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src/modules/navigator/mission_feasibility_checker.cpp
-1
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@@ -41,7 +41,6 @@
*/
#include "mission_feasibility_checker.h"
#include "MissionFeasibility/FeasibilityChecker.hpp"
#include "mission_block.h"
#include "navigator.h"