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Navigator: Use maximum flight altitude to limit missions

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This change limits all mission items to the maximum flight altitude. The mission will still be executed and flown,
but the vehicle will never exceed the mission altitude. This ensures the vehicle can always reach the mission
items. Wether or not the entire mission should be rejected if it falls outside of the fenced area is enforced
in the mission feasibility checker function.
This commit is contained in:
Dennis Mannhart
2017-10-10 10:28:07 +02:00
parent 29cdb655c3
commit f9b8afc006
14 changed files with 52 additions and 19 deletions
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src/modules/navigator/mission.cpp
+5
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@@ -508,6 +508,7 @@ Mission::set_mission_items()
/* update position setpoint triplet */
pos_sp_triplet->previous.valid = false;
mission_apply_limitation(&_mission_item);
mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->next.valid = false;
@@ -764,6 +765,7 @@ Mission::set_mission_items()
set_align_mission_item(&_mission_item, &mission_item_next_position);
/* set position setpoint to target during the transition */
mission_apply_limitation(&_mission_item);
mission_item_to_position_setpoint(mission_item_next_position, &pos_sp_triplet->current);
}
@@ -806,6 +808,7 @@ Mission::set_mission_items()
/*********************************** set setpoints and check next *********************************************/
/* set current position setpoint from mission item (is protected against non-position items) */
mission_apply_limitation(&_mission_item);
mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
/* issue command if ready (will do nothing for position mission items) */
@@ -832,6 +835,7 @@ Mission::set_mission_items()
/* try to process next mission item */
if (has_next_position_item) {
/* got next mission item, update setpoint triplet */
mission_apply_limitation(&_mission_item);
mission_item_to_position_setpoint(mission_item_next_position, &pos_sp_triplet->next);
} else {
@@ -1183,6 +1187,7 @@ Mission::do_abort_landing()
_mission_item.origin = ORIGIN_ONBOARD;
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
mission_apply_limitation(&_mission_item);
mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
_navigator->set_position_setpoint_triplet_updated();