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Navigator: Use MIS_TAKEOFF_ALT only as default, not as min

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-09-19 10:04:30 +02:00
parent 71f8f47f62
commit de5b769093
3 changed files with 27 additions and 41 deletions
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src/modules/navigator/takeoff.cpp
+23 -37
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@@ -96,62 +96,48 @@ Takeoff::on_active()
void
Takeoff::set_takeoff_position()
{
struct position_setpoint_triplet_s *rep = _navigator->get_takeoff_triplet();
if (!_navigator->home_alt_valid()) {
mavlink_log_info(_navigator->get_mavlink_log_pub(),
"Home altitude not valid, abort takeoff\t");
float abs_altitude = 0.0f;
float min_abs_altitude;
// TODO: review this, comments are talking about home pos, the validity is checked but the
// current altitude is used instead. Also, the "else" case does not consider the current altitude at all.
if (_navigator->home_alt_valid()) { //only use home position if it is valid
min_abs_altitude = _navigator->get_global_position()->alt + _navigator->get_takeoff_min_alt();
} else { //e.g. flow
min_abs_altitude = _navigator->get_takeoff_min_alt();
events::send(events::ID("navigator_takeoff_abort_no_valid_home_alt"), {events::LogLevel::Critical, events::LogInternal::Warning},
"Home altitude not valid, abort takeoff");
return;
}
// Use altitude if it has been set. If home position is invalid use min_abs_altitude
events::LogLevel log_level = events::LogLevel::Disabled;
struct position_setpoint_triplet_s *rep = _navigator->get_takeoff_triplet();
if (rep->current.valid && PX4_ISFINITE(rep->current.alt) && _navigator->home_alt_valid()) {
abs_altitude = rep->current.alt;
float takeoff_altitude_amsl = 0.f;
// If the altitude suggestion is lower than home + minimum clearance, raise it and complain.
if (abs_altitude < min_abs_altitude) {
if (abs_altitude < min_abs_altitude - 0.1f) { // don't complain if difference is smaller than 10cm
mavlink_log_critical(_navigator->get_mavlink_log_pub(),
"Using minimum takeoff altitude: %.2f m\t", (double)_navigator->get_takeoff_min_alt());
log_level = events::LogLevel::Warning;
}
if (rep->current.valid && PX4_ISFINITE(rep->current.alt)) {
takeoff_altitude_amsl = rep->current.alt;
abs_altitude = min_abs_altitude;
// If the altitude suggestion is lower than home, notify and abort
if (takeoff_altitude_amsl < _navigator->get_home_position()->alt) {
mavlink_log_critical(_navigator->get_mavlink_log_pub(),
"abort takeoff \t");
}
} else {
// Use home + minimum clearance but only notify.
abs_altitude = min_abs_altitude;
takeoff_altitude_amsl = _navigator->get_home_position()->alt + _navigator->get_param_mis_takeoff_alt();
mavlink_log_info(_navigator->get_mavlink_log_pub(),
"Using minimum takeoff altitude: %.2f m\t", (double)_navigator->get_takeoff_min_alt());
log_level = events::LogLevel::Info;
"Using deault takeoff altitude: %.1f m\t", (double)_navigator->get_param_mis_takeoff_alt());
events::send<float>(events::ID("navigator_takeoff_default_alt"), {events::Log::Info, events::LogInternal::Info},
"Using default takeoff altitude: {1:.2m}",
_navigator->get_param_mis_takeoff_alt());
}
if (log_level != events::LogLevel::Disabled) {
events::send<float>(events::ID("navigator_takeoff_min_alt"), {log_level, events::LogInternal::Info},
"Using minimum takeoff altitude: {1:.2m}",
_navigator->get_takeoff_min_alt());
}
if (abs_altitude < _navigator->get_global_position()->alt) {
if (takeoff_altitude_amsl < _navigator->get_global_position()->alt) {
// If the suggestion is lower than our current alt, let's not go down.
abs_altitude = _navigator->get_global_position()->alt;
takeoff_altitude_amsl = _navigator->get_global_position()->alt;
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Already higher than takeoff altitude\t");
events::send(events::ID("navigator_takeoff_already_higher"), {events::Log::Error, events::LogInternal::Info},
"Already higher than takeoff altitude (not descending)");
}
// set current mission item to takeoff
set_takeoff_item(&_mission_item, abs_altitude);
set_takeoff_item(&_mission_item, takeoff_altitude_amsl);
_navigator->get_mission_result()->finished = false;
_navigator->set_mission_result_updated();
reset_mission_item_reached();