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navigator: home_positionvalid -> global_home_position_valid

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This is to make clear that the relevant part of the home position
message for navigator is the global one. Local home position isn't
required as everything is done in global coordinates.
The specific home_alt_valid is used when lat/lon are not used
This commit is contained in:
bresch
2022-04-19 15:29:25 +02:00
committed by Mathieu Bresciani
parent d2f2ba59a4
commit 3f3a4ac5c1
8 changed files with 20 additions and 15 deletions
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src/modules/navigator/takeoff.cpp
+4 -2
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@@ -98,7 +98,9 @@ Takeoff::set_takeoff_position()
float min_abs_altitude;
if (_navigator->home_position_valid()) { //only use home position if it is valid
// TODO: review this, comments are talking about home pos, the validity is checked but the
// current altitude is used instead. Also, the "else" case does not consider the current altitude at all.
if (_navigator->home_alt_valid()) { //only use home position if it is valid
min_abs_altitude = _navigator->get_global_position()->alt + _navigator->get_takeoff_min_alt();
} else { //e.g. flow
@@ -108,7 +110,7 @@ Takeoff::set_takeoff_position()
// Use altitude if it has been set. If home position is invalid use min_abs_altitude
events::LogLevel log_level = events::LogLevel::Disabled;
if (rep->current.valid && PX4_ISFINITE(rep->current.alt) && _navigator->home_position_valid()) {
if (rep->current.valid && PX4_ISFINITE(rep->current.alt) && _navigator->home_alt_valid()) {
abs_altitude = rep->current.alt;
// If the altitude suggestion is lower than home + minimum clearance, raise it and complain.