navigator: reject mission if the first waypoint is too far from home

1 files changed, 9 insertions, 1 deletions

diff --git a/src/modules/navigator/mission.h b/src/modules/navigator/mission.h
index 40629b1b2..4da6a1155 100644
--- a/src/modules/navigator/mission.h
+++ b/src/modules/navigator/mission.h
@@ -92,6 +92,12 @@ private:
 	void advance_mission();
 
 	/**
+	 * Check distance to first waypoint (with lat/lon)
+	 * @return true only if it's not too far from home (< MIS_DIST_1WP)
+	 */
+	bool check_dist_1wp();
+
+	/**
 	 * Set new mission items
 	 */
 	void set_mission_items();
@@ -127,8 +133,9 @@ private:
 	 */
 	void publish_mission_result();
 
-	control::BlockParamFloat _param_onboard_enabled;
+	control::BlockParamInt _param_onboard_enabled;
 	control::BlockParamFloat _param_takeoff_alt;
+	control::BlockParamFloat _param_dist_1wp;
 
 	struct mission_s _onboard_mission;
 	struct mission_s _offboard_mission;
@@ -148,6 +155,7 @@ private:
 	} _mission_type;
 
 	bool _inited;
+	bool _dist_1wp_ok;
 
 	MissionFeasibilityChecker missionFeasiblityChecker; /**< class that checks if a mission is feasible */
 };