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refactored do_set_servo handling and generalized formatting of CMD mavlink mission items, fixes #3644

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This commit is contained in:
Andreas Antener
2016-02-08 11:09:12 +01:00
parent 46bd1cbacf
commit baa11e357d
4 changed files with 56 additions and 64 deletions
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src/modules/navigator/mission_feasibility_checker.cpp
+4 -4
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@@ -347,14 +347,14 @@ MissionFeasibilityChecker::check_dist_1wp(dm_item_t dm_current, size_t nMissionI
if (mission_item.nav_cmd == NAV_CMD_DO_SET_SERVO){
/* check actuator number */
if (mission_item.actuator_num < 0 || mission_item.actuator_num > 5) {
mavlink_log_critical(_mavlink_fd, "Actuator number %d is out of bounds 0..5", (int)mission_item.actuator_num);
if (mission_item.params[0] < 0 || mission_item.params[0] > 5) {
mavlink_log_critical(_mavlink_fd, "Actuator number %d is out of bounds 0..5", (int)mission_item.params[0]);
warning_issued = true;
return false;
}
/* check actuator value */
if (mission_item.actuator_value < -2000 || mission_item.actuator_value > 2000) {
mavlink_log_critical(_mavlink_fd, "Actuator value %d is out of bounds -2000..2000", (int)mission_item.actuator_value);
if (mission_item.params[1] < -2000 || mission_item.params[1] > 2000) {
mavlink_log_critical(_mavlink_fd, "Actuator value %d is out of bounds -2000..2000", (int)mission_item.params[1]);
warning_issued = true;
return false;
}