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Navigator: add MissionFeasibilityChecker class; performs validation of landing waypoint set-up for fixed wing for now, but can be extended for other checks (e.g. check mission against geofence)

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Thomas Gubler
2013-12-25 17:10:38 +01:00
parent d07cc95339
commit b02b48290f
9 changed files with 350 additions and 27 deletions
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src/modules/fw_pos_control_l1/landingslope.cpp
+5 -7
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@@ -1,9 +1,7 @@
/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -37,7 +35,6 @@
/*
* @file: landingslope.cpp
*
* @author: Thomas Gubler <thomasgubler@gmail.com>
*/
#include "landingslope.h"
@@ -74,11 +71,12 @@ void Landingslope::calculateSlopeValues()
float Landingslope::getLandingSlopeAbsoluteAltitude(float wp_distance, float wp_altitude)
{
return (wp_distance - _horizontal_slope_displacement) * tanf(_landing_slope_angle_rad) + wp_altitude; //flare_relative_alt is negative
return Landingslope::getLandingSlopeAbsoluteAltitude(wp_distance, wp_altitude, _horizontal_slope_displacement, _landing_slope_angle_rad);
}
float Landingslope::getFlarceCurveAltitude(float wp_distance, float wp_altitude)
float Landingslope::getFlareCurveAltitude(float wp_landing_distance, float wp_landing_altitude)
{
return wp_altitude + _H0 * expf(-math::max(0.0f, _flare_length - wp_distance)/_flare_constant) - _H1_virt;
return wp_landing_altitude + _H0 * expf(-math::max(0.0f, _flare_length - wp_landing_distance)/_flare_constant) - _H1_virt;
}