From 8298fee2b0e37abb3c43bdc4002c5d88c487668d Mon Sep 17 00:00:00 2001 From: Roman Bapst Date: Thu, 16 Feb 2023 13:28:49 +0300 Subject: [PATCH] Revert "cleanup" This reverts commit 8ecb55033106d48bab8b0e2f57742b5863f16bd1. --- .../navigator/MissionFeasibility/FeasibilityChecker.hpp | 1 + src/modules/navigator/mission.cpp | 4 +++- src/modules/navigator/mission_feasibility_checker.cpp | 3 ++- src/modules/navigator/mission_feasibility_checker.h | 6 +++++- 4 files changed, 11 insertions(+), 3 deletions(-) diff --git a/src/modules/navigator/MissionFeasibility/FeasibilityChecker.hpp b/src/modules/navigator/MissionFeasibility/FeasibilityChecker.hpp index 6ac654e4a3..d7e0403859 100644 --- a/src/modules/navigator/MissionFeasibility/FeasibilityChecker.hpp +++ b/src/modules/navigator/MissionFeasibility/FeasibilityChecker.hpp @@ -92,6 +92,7 @@ private: bool _is_landed{false}; float _home_alt_msl{NAN}; matrix::Vector2d _home_lat_lon = matrix::Vector2d((double)NAN, (double)NAN); + bool _is_vtol{false}; VehicleType _vehicle_type{VehicleType::RotaryWing}; // internal flags to keep track of which checks failed diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index e4836828e8..1442fe1f72 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -1747,7 +1747,9 @@ Mission::check_mission_valid(bool force) MissionFeasibilityChecker _missionFeasibilityChecker(_navigator); _navigator->get_mission_result()->valid = - _missionFeasibilityChecker.checkMissionFeasible(_mission); + _missionFeasibilityChecker.checkMissionFeasible(_mission, + _param_mis_dist_1wp.get(), + _param_mis_dist_wps.get()); _navigator->get_mission_result()->seq_total = _mission.count; _navigator->increment_mission_instance_count(); diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp index 459ac1fdc0..013d331a0b 100644 --- a/src/modules/navigator/mission_feasibility_checker.cpp +++ b/src/modules/navigator/mission_feasibility_checker.cpp @@ -54,7 +54,8 @@ #include bool -MissionFeasibilityChecker::checkMissionFeasible(const mission_s &mission) +MissionFeasibilityChecker::checkMissionFeasible(const mission_s &mission, + float max_distance_to_1st_waypoint, float max_distance_between_waypoints) { // Reset warning flag _navigator->get_mission_result()->warning = false; diff --git a/src/modules/navigator/mission_feasibility_checker.h b/src/modules/navigator/mission_feasibility_checker.h index 902d803eda..90b87952fa 100644 --- a/src/modules/navigator/mission_feasibility_checker.h +++ b/src/modules/navigator/mission_feasibility_checker.h @@ -56,6 +56,9 @@ private: Navigator *_navigator{nullptr}; FeasibilityChecker _feasibility_checker; + bool _has_takeoff{false}; + bool _has_landing{false}; + bool checkGeofence(const mission_s &mission, float home_alt, bool home_valid); public: @@ -74,5 +77,6 @@ public: /* * Returns true if mission is feasible and false otherwise */ - bool checkMissionFeasible(const mission_s &mission); + bool checkMissionFeasible(const mission_s &mission, + float max_distance_to_1st_waypoint, float max_distance_between_waypoints); };