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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/navigator_main.cpp
+7 -7
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@@ -180,12 +180,12 @@ Navigator::home_position_update(bool force)
}
void
Navigator::fw_pos_ctrl_status_update()
Navigator::fw_pos_ctrl_status_update(bool force)
{
bool updated = false;
orb_check(_fw_pos_ctrl_status_sub, &updated);
if (updated) {
if (updated || force) {
orb_copy(ORB_ID(fw_pos_ctrl_status), _fw_pos_ctrl_status_sub, &_fw_pos_ctrl_status);
}
}
@@ -265,7 +265,7 @@ Navigator::task_main()
gps_position_update();
sensor_combined_update();
home_position_update(true);
fw_pos_ctrl_status_update();
fw_pos_ctrl_status_update(true);
params_update();
/* wakeup source(s) */
@@ -531,13 +531,13 @@ Navigator::task_main()
(_geofence.getGeofenceAction() != geofence_result_s::GF_ACTION_NONE) &&
(hrt_elapsed_time(&last_geofence_check) > GEOFENCE_CHECK_INTERVAL)) {
bool inside = _geofence.inside(_global_pos, _gps_pos, _sensor_combined.baro_alt_meter, _home_pos,
home_position_valid());
bool inside = _geofence.inside(_global_pos, _gps_pos, _sensor_combined.baro_alt_meter);
last_geofence_check = hrt_absolute_time();
have_geofence_position_data = false;
_geofence_result.timestamp = hrt_absolute_time();
_geofence_result.geofence_action = _geofence.getGeofenceAction();
_geofence_result.home_required = _geofence.isHomeRequired();
if (!inside) {
/* inform other apps via the mission result */
@@ -969,8 +969,8 @@ Navigator::publish_vehicle_cmd(const struct vehicle_command_s &vcmd)
void
Navigator::set_mission_failure(const char *reason)
{
if (!_mission_result.mission_failure) {
_mission_result.mission_failure = true;
if (!_mission_result.failure) {
_mission_result.failure = true;
set_mission_result_updated();
mavlink_log_critical(&_mavlink_log_pub, "%s", reason);
}