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mission feasibility: add small tolerance to fw landing slope alt

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Thomas Stastny
2018-06-29 12:10:53 +00:00
committed by Lorenz Meier
parent 193993c54f
commit 8551d2eb9d
1 changed files with 2 additions and 2 deletions
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src/modules/navigator/mission_feasibility_checker.cpp
+2 -2
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@@ -411,8 +411,8 @@ MissionFeasibilityChecker::checkFixedWingLanding(const mission_s &mission, bool
const float slope_alt_req = Landingslope::getLandingSlopeAbsoluteAltitude(wp_distance, missionitem.altitude, const float slope_alt_req = Landingslope::getLandingSlopeAbsoluteAltitude(wp_distance, missionitem.altitude,
horizontal_slope_displacement, slope_angle_rad); horizontal_slope_displacement, slope_angle_rad);
if (missionitem_previous.altitude > slope_alt_req) { if (missionitem_previous.altitude > slope_alt_req + 1.0f) {
/* Landing waypoint is above altitude of slope at the given waypoint distance */ /* Landing waypoint is above altitude of slope at the given waypoint distance (with small tolerance for floating point discrepancies) */
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: adjust landing approach."); mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: adjust landing approach.");
const float wp_distance_req = Landingslope::getLandingSlopeWPDistance(missionitem_previous.altitude, const float wp_distance_req = Landingslope::getLandingSlopeWPDistance(missionitem_previous.altitude,