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Mission feasibility fixes

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- Fixes https://github.com/PX4/Firmware/issues/3656
- Fixes https://github.com/PX4/Firmware/issues/3648
- Corrected spelling on method
This commit is contained in:
sander
2016-02-04 20:44:35 +01:00
parent 0bde2b6fa3
commit fdcfb7c7c6
5 changed files with 41 additions and 19 deletions
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src/modules/navigator/mission.cpp
+3 -3
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@@ -80,7 +80,7 @@ Mission::Mission(Navigator *navigator, const char *name) :
_mission_type(MISSION_TYPE_NONE),
_inited(false),
_home_inited(false),
_missionFeasiblityChecker(),
_missionFeasibilityChecker(),
_min_current_sp_distance_xy(FLT_MAX),
_mission_item_previous_alt(NAN),
_on_arrival_yaw(NAN),
@@ -255,7 +255,7 @@ Mission::update_offboard_mission()
* however warnings are issued to the gcs via mavlink from inside the MissionFeasiblityChecker */
dm_item_t dm_current = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id);
failed = !_missionFeasiblityChecker.checkMissionFeasible(_navigator->get_mavlink_fd(), _navigator->get_vstatus()->is_rotary_wing,
failed = !_missionFeasibilityChecker.checkMissionFeasible(_navigator->get_mavlink_fd(), _navigator->get_vstatus()->is_rotary_wing,
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,
@@ -841,7 +841,7 @@ Mission::check_mission_valid()
dm_item_t dm_current = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id);
_navigator->get_mission_result()->valid = _missionFeasiblityChecker.checkMissionFeasible(_navigator->get_mavlink_fd(), _navigator->get_vstatus()->is_rotary_wing,
_navigator->get_mission_result()->valid = _missionFeasibilityChecker.checkMissionFeasible(_navigator->get_mavlink_fd(), _navigator->get_vstatus()->is_rotary_wing,
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,