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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-01-02 15:01:08 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-01-02 15:01:08 +0100 |
| commit | 429a11a21d25e34ca711b2c0debb2ac3e84c45ca (patch) | |
| tree | b86d554b7b7e2dd6d18d7971efedadd3066d084a /src/modules/navigator/mission_feasibility_checker.cpp | |
| parent | dca6d97a5288766e3e0da05dc5fdc98108fa7892 (diff) | |
| download | px4-firmware-429a11a21d25e34ca711b2c0debb2ac3e84c45ca.tar.gz px4-firmware-429a11a21d25e34ca711b2c0debb2ac3e84c45ca.tar.bz2 px4-firmware-429a11a21d25e34ca711b2c0debb2ac3e84c45ca.zip | |
navigator/geofence: move more functions to geofence class (WIP)
Diffstat (limited to 'src/modules/navigator/mission_feasibility_checker.cpp')
| -rw-r--r-- | src/modules/navigator/mission_feasibility_checker.cpp | 16 |
1 files changed, 8 insertions, 8 deletions
diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp index cc079dee1..aba2dffff 100644 --- a/src/modules/navigator/mission_feasibility_checker.cpp +++ b/src/modules/navigator/mission_feasibility_checker.cpp @@ -62,7 +62,7 @@ MissionFeasibilityChecker::MissionFeasibilityChecker() : _mavlink_fd(-1), _capab } -bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, const struct fence_s &fence) +bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence) { /* Init if not done yet */ init(); @@ -75,27 +75,27 @@ bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_ if (isRotarywing) - return checkMissionFeasibleRotarywing(dm_current, nMissionItems, fence); + return checkMissionFeasibleRotarywing(dm_current, nMissionItems, geofence); else - return checkMissionFeasibleFixedwing(dm_current, nMissionItems, fence); + return checkMissionFeasibleFixedwing(dm_current, nMissionItems, geofence); } -bool MissionFeasibilityChecker::checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, const struct fence_s &fence) +bool MissionFeasibilityChecker::checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence) { - return checkGeofence(dm_current, nMissionItems, fence); + return checkGeofence(dm_current, nMissionItems, geofence); } -bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, const struct fence_s &fence) +bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence) { /* Update fixed wing navigation capabilites */ updateNavigationCapabilities(); // warnx("_nav_caps.landing_slope_angle_rad %.4f, _nav_caps.landing_horizontal_slope_displacement %.4f", _nav_caps.landing_slope_angle_rad, _nav_caps.landing_horizontal_slope_displacement); - return (checkFixedWingLanding(dm_current, nMissionItems) && checkGeofence(dm_current, nMissionItems, fence)); + return (checkFixedWingLanding(dm_current, nMissionItems) && checkGeofence(dm_current, nMissionItems, geofence)); } -bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMissionItems, const struct fence_s &fence) +bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence) { //xxx: check geofence return true; |