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Check if waypoint altitude is relative. Fixes #1197

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Lorenz Meier
2014-07-17 21:02:17 +02:00
parent 213fe0cc20
commit c01567c047
1 changed files with 6 additions and 3 deletions
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src/modules/navigator/mission_feasibility_checker.cpp
+6 -3
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@@ -135,12 +135,15 @@ bool MissionFeasibilityChecker::checkHomePositionAltitude(dm_item_t dm_current,
}
}
if (home_alt > missionitem.altitude) {
/* calculate the global waypoint altitude */
float wp_alt = (missionitem.altitude_is_relative) ? missionitem.altitude + home_alt ? missionitem.altitude;
if (home_alt > wp_alt) {
if (throw_error) {
mavlink_log_info(_mavlink_fd, "Waypoint %d below home", i);
mavlink_log_critical(_mavlink_fd, "Warning: Waypoint %d below home", i);
return false;
} else {
mavlink_log_info(_mavlink_fd, "#audio: warning waypoint %d below home", i);
mavlink_log_critical(_mavlink_fd, "Rejecting Mission: Waypoint %d below home", i);
return true;
}
}