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mission require valid landing after DO_LAND_START

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This commit is contained in:
Daniel Agar
2017-04-20 14:41:01 -04:00
parent 56b028148b
commit ed1b442065
14 changed files with 343 additions and 350 deletions
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src/modules/navigator/mission.cpp
+4 -17
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@@ -67,7 +67,7 @@ Mission::Mission(Navigator *navigator, const char *name) :
_param_yawmode(this, "MIS_YAWMODE", false),
_param_force_vtol(this, "NAV_FORCE_VT", false),
_param_fw_climbout_diff(this, "FW_CLMBOUT_DIFF", false),
_missionFeasibilityChecker()
_missionFeasibilityChecker(navigator)
{
updateParams();
}
@@ -304,7 +304,7 @@ Mission::update_onboard_mission()
// XXX check validity here as well
_navigator->get_mission_result()->valid = true;
/* reset mission failure if we have an updated valid mission */
_navigator->get_mission_result()->mission_failure = false;
_navigator->get_mission_result()->failure = false;
/* reset reached info as well */
_navigator->get_mission_result()->reached = false;
@@ -355,7 +355,7 @@ Mission::update_offboard_mission()
if (!failed) {
/* reset mission failure if we have an updated valid mission */
_navigator->get_mission_result()->mission_failure = false;
_navigator->get_mission_result()->failure = false;
/* reset reached info as well */
_navigator->get_mission_result()->reached = false;
@@ -1374,21 +1374,8 @@ Mission::check_mission_valid(bool force)
{
if ((!_home_inited && _navigator->home_position_valid()) || force) {
dm_item_t dm_current = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id);
_navigator->get_mission_result()->valid =
_missionFeasibilityChecker.checkMissionFeasible(
_navigator->get_mavlink_log_pub(),
(_navigator->get_vstatus()->is_rotary_wing || _navigator->get_vstatus()->is_vtol),
dm_current, (size_t) _offboard_mission.count, _navigator->get_geofence(),
_navigator->get_home_position()->alt,
_navigator->home_position_valid(),
_navigator->get_global_position()->lat,
_navigator->get_global_position()->lon,
_param_dist_1wp.get(),
_navigator->get_mission_result()->warning,
_navigator->get_default_acceptance_radius(),
_navigator->get_land_detected()->landed);
_missionFeasibilityChecker.checkMissionFeasible(_offboard_mission, _param_dist_1wp.get(), false);
_navigator->get_mission_result()->seq_total = _offboard_mission.count;
_navigator->increment_mission_instance_count();