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navigator/geofence: move more functions to geofence class (WIP)

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This commit is contained in:
Thomas Gubler
2014-01-02 15:01:08 +01:00
parent dca6d97a52
commit 429a11a21d
5 changed files with 138 additions and 127 deletions
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src/modules/navigator/mission_feasibility_checker.cpp
+8 -8
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@@ -62,7 +62,7 @@ MissionFeasibilityChecker::MissionFeasibilityChecker() : _mavlink_fd(-1), _capab
}
bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, const struct fence_s &fence)
bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence)
{
/* Init if not done yet */
init();
@@ -75,27 +75,27 @@ bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_
if (isRotarywing)
return checkMissionFeasibleRotarywing(dm_current, nMissionItems, fence);
return checkMissionFeasibleRotarywing(dm_current, nMissionItems, geofence);
else
return checkMissionFeasibleFixedwing(dm_current, nMissionItems, fence);
return checkMissionFeasibleFixedwing(dm_current, nMissionItems, geofence);
}
bool MissionFeasibilityChecker::checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, const struct fence_s &fence)
bool MissionFeasibilityChecker::checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence)
{
return checkGeofence(dm_current, nMissionItems, fence);
return checkGeofence(dm_current, nMissionItems, geofence);
}
bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, const struct fence_s &fence)
bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence)
{
/* Update fixed wing navigation capabilites */
updateNavigationCapabilities();
// warnx("_nav_caps.landing_slope_angle_rad %.4f, _nav_caps.landing_horizontal_slope_displacement %.4f", _nav_caps.landing_slope_angle_rad, _nav_caps.landing_horizontal_slope_displacement);
return (checkFixedWingLanding(dm_current, nMissionItems) && checkGeofence(dm_current, nMissionItems, fence));
return (checkFixedWingLanding(dm_current, nMissionItems) && checkGeofence(dm_current, nMissionItems, geofence));
}
bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMissionItems, const struct fence_s &fence)
bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence)
{
//xxx: check geofence
return true;