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Mission feasibility: remove 2/3rds distance warnings that don't reject a mission (#9743)

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Daniel Agar 2018-06-23 10:39:23 -04:00 committed by GitHub
parent 1a363be2e7
commit aa270fcd89
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 1 additions and 19 deletions
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20
src/modules/navigator/mission_feasibility_checker.cpp
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@ -497,14 +497,6 @@ MissionFeasibilityChecker::checkDistanceToFirstWaypoint(const mission_s &mission
if (dist_to_1wp < max_distance) {
if (dist_to_1wp > ((max_distance * 2) / 3)) {
/* allow at 2/3 distance, but warn */
mavlink_log_critical(_navigator->get_mavlink_log_pub(),
"First waypoint far away: %d meters.", (int)dist_to_1wp);
_navigator->get_mission_result()->warning = true;
}
return true;
} else {
@ -557,17 +549,7 @@ MissionFeasibilityChecker::checkDistancesBetweenWaypoints(const mission_s &missi
mission_item.lat, mission_item.lon,
last_lat, last_lon);
if (dist_between_waypoints < max_distance) {
if (dist_between_waypoints > ((max_distance * 2) / 3)) {
/* allow at 2/3 distance, but warn */
mavlink_log_critical(_navigator->get_mavlink_log_pub(),
"Distance between waypoints very far: %d meters.", (int)dist_between_waypoints);
_navigator->get_mission_result()->warning = true;
}
} else {
if (dist_between_waypoints > max_distance) {
/* item is too far from home */
mavlink_log_critical(_navigator->get_mavlink_log_pub(),
"Distance between waypoints too far: %d meters, %d max.",