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mission feasibility checker: add check for waypoint altitude relative to home position altitude

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Thomas Gubler
2014-02-24 19:04:26 +01:00
parent 9c02525e39
commit 88fe2d3052
3 changed files with 40 additions and 12 deletions
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src/modules/navigator/mission_feasibility_checker.h
+4 -3
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@@ -59,14 +59,15 @@ private:
/* Checks for all airframes */
bool checkGeofence(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence);
bool checkHomePositionAltitude(dm_item_t dm_current, size_t nMissionItems, float home_alt, bool throw_error = false);
/* Checks specific to fixedwing airframes */
bool checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence);
bool checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt);
bool checkFixedWingLanding(dm_item_t dm_current, size_t nMissionItems);
void updateNavigationCapabilities();
/* Checks specific to rotarywing airframes */
bool checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence);
bool checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt);
public:
MissionFeasibilityChecker();
@@ -75,7 +76,7 @@ public:
/*
* Returns true if mission is feasible and false otherwise
*/
bool checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence);
bool checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt);
};