fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-03 17:28:54 +08:00
Code Issues Packages Projects Releases Wiki Activity

VTOL: check feasibility as rotary wing

Browse Source
This commit is contained in:
sander
2016-02-18 21:42:37 +01:00
committed by Lorenz Meier
parent 8007a84ab3
commit 90276fa3a7
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/mission.cpp
+2 -2
View File
@@ -257,7 +257,7 @@ Mission::update_offboard_mission()
* however warnings are issued to the gcs via mavlink from inside the MissionFeasiblityChecker */
dm_item_t dm_current = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id);
failed = !_missionFeasibilityChecker.checkMissionFeasible(_navigator->get_mavlink_fd(), _navigator->get_vstatus()->is_rotary_wing,
failed = !_missionFeasibilityChecker.checkMissionFeasible(_navigator->get_mavlink_fd(), (_navigator->get_vstatus()->is_rotary_wing || _navigator->get_vstatus()->is_vtol),
dm_current, (size_t) _offboard_mission.count, _navigator->get_geofence(),
_navigator->get_home_position()->alt, _navigator->home_position_valid(),
_navigator->get_global_position()->lat, _navigator->get_global_position()->lon,
@@ -1027,7 +1027,7 @@ Mission::check_mission_valid()
dm_item_t dm_current = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id);
_navigator->get_mission_result()->valid = _missionFeasibilityChecker.checkMissionFeasible(_navigator->get_mavlink_fd(), _navigator->get_vstatus()->is_rotary_wing,
_navigator->get_mission_result()->valid = _missionFeasibilityChecker.checkMissionFeasible(_navigator->get_mavlink_fd(), (_navigator->get_vstatus()->is_rotary_wing || _navigator->get_vstatus()->is_vtol),
dm_current, (size_t) _offboard_mission.count, _navigator->get_geofence(),
_navigator->get_home_position()->alt, _navigator->home_position_valid(),
_navigator->get_global_position()->lat, _navigator->get_global_position()->lon,