fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 21:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

git status

Browse Source
This commit is contained in:
fpvaspassion
2015-08-18 23:17:07 +02:00
committed by Lorenz Meier
parent e6ffa16125
commit 60be6a577f
6 changed files with 33 additions and 79 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/mission_feasibility_checker.cpp
+17 -1
View File
@@ -303,9 +303,25 @@ MissionFeasibilityChecker::check_dist_1wp(dm_item_t dm_current, size_t nMissionI
for (unsigned i = 0; i < nMissionItems; i++) {
if (dm_read(dm_current, i,
&mission_item, sizeof(mission_item_s)) == sizeof(mission_item_s)) {
/* Check non navigation item */
if (mission_item.nav_cmd == NAV_CMD_DO_SET_SERVO){
//check actuator number
if (mission_item.actuator_num<1 || mission_item.actuator_num>6) {
mavlink_log_critical(_mavlink_fd, "Actuator number %d is out of bounds 1..6", (int)mission_item.actuator_num);
warning_issued = true;
return false;
}
//check actuator value
if (mission_item.actuator_value<900 || mission_item.actuator_value>2000) {
mavlink_log_critical(_mavlink_fd, "Actuator number %d is out of bounds 900..2000", (int)mission_item.actuator_value);
warning_issued = true;
return false;
}
}
/* check only items with valid lat/lon */
if ( mission_item.nav_cmd == NAV_CMD_WAYPOINT ||
else if ( mission_item.nav_cmd == NAV_CMD_WAYPOINT ||
mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||
mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED ||