mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-02 09:31:36 +08:00
Michal Stasiak
2bfac7ff4f
Current implementation checks against geofence only if it is in polygon form. When it's created via params, it accepts all the waypoints as the number of vertices = 0. Thus, changed the function to the one that is used to check whether geofence is breached in flight.
99 lines
4.1 KiB
C++
99 lines
4.1 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2013 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file mission_feasibility_checker.h
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* Provides checks if mission is feasible given the navigation capabilities
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*
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* @author Lorenz Meier <lm@inf.ethz.ch>
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* @author Thomas Gubler <thomasgubler@student.ethz.ch>
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* @author Sander Smeets <sander@droneslab.com>
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*/
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#ifndef MISSION_FEASIBILITY_CHECKER_H_
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#define MISSION_FEASIBILITY_CHECKER_H_
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#include <unistd.h>
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#include <uORB/topics/mission.h>
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#include <uORB/topics/fw_pos_ctrl_status.h>
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#include <dataman/dataman.h>
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#include "geofence.h"
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class MissionFeasibilityChecker
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{
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private:
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orb_advert_t *_mavlink_log_pub;
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int _fw_pos_ctrl_status_sub;
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struct fw_pos_ctrl_status_s _fw_pos_ctrl_status;
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bool _initDone;
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bool _dist_1wp_ok;
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void init();
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/* Checks for all airframes */
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bool checkGeofence(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt);
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bool checkHomePositionAltitude(dm_item_t dm_current, size_t nMissionItems, float home_alt, bool home_valid, bool &warning_issued, bool throw_error = false);
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bool checkMissionItemValidity(dm_item_t dm_current, size_t nMissionItems, bool condition_landed);
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bool check_dist_1wp(dm_item_t dm_current, size_t nMissionItems, double curr_lat, double curr_lon, float dist_first_wp, bool &warning_issued);
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bool isPositionCommand(unsigned cmd);
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/* Checks specific to fixedwing airframes */
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bool checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt, bool home_valid);
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bool checkFixedWingLanding(dm_item_t dm_current, size_t nMissionItems);
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void updateNavigationCapabilities();
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/* Checks specific to rotarywing airframes */
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bool checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt, bool home_valid, float default_acceptance_rad);
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public:
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MissionFeasibilityChecker();
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MissionFeasibilityChecker(const MissionFeasibilityChecker &) = delete;
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MissionFeasibilityChecker &operator=(const MissionFeasibilityChecker &) = delete;
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~MissionFeasibilityChecker() {}
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/*
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* Returns true if mission is feasible and false otherwise
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*/
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bool checkMissionFeasible(orb_advert_t *mavlink_log_pub, bool isRotarywing, dm_item_t dm_current,
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size_t nMissionItems, Geofence &geofence, float home_alt, bool home_valid,
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double curr_lat, double curr_lon, float max_waypoint_distance, bool &warning_issued, float default_acceptance_rad,
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bool condition_landed);
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};
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#endif /* MISSION_FEASIBILITY_CHECKER_H_ */
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