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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-06 15:47:34 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-06 15:47:34 +0200 |
commit | 1492323f0327916435d806c2af1e0c8296278c9d (patch) | |
tree | d53e2768c326ec6a2cbcfd896550c446ba93fab3 /src/modules/navigator/mission_feasibility_checker.h | |
parent | 2669f7f3af65921d4abbf3850cd62e48f2eeeec7 (diff) | |
parent | bd88951f6ce609bc5ba364bfa3d19ae61e444964 (diff) | |
download | px4-firmware-1492323f0327916435d806c2af1e0c8296278c9d.tar.gz px4-firmware-1492323f0327916435d806c2af1e0c8296278c9d.tar.bz2 px4-firmware-1492323f0327916435d806c2af1e0c8296278c9d.zip |
Merged master into uavcan
Diffstat (limited to 'src/modules/navigator/mission_feasibility_checker.h')
-rw-r--r-- | src/modules/navigator/mission_feasibility_checker.h | 13 |
1 files changed, 8 insertions, 5 deletions
diff --git a/src/modules/navigator/mission_feasibility_checker.h b/src/modules/navigator/mission_feasibility_checker.h index 7a0b2a296..96c9209d3 100644 --- a/src/modules/navigator/mission_feasibility_checker.h +++ b/src/modules/navigator/mission_feasibility_checker.h @@ -1,8 +1,6 @@ /**************************************************************************** * * Copyright (c) 2013 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier <lm@inf.ethz.ch> - * @author Thomas Gubler <thomasgubler@student.ethz.ch> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -35,7 +33,11 @@ /** * @file mission_feasibility_checker.h * Provides checks if mission is feasible given the navigation capabilities + * + * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Thomas Gubler <thomasgubler@student.ethz.ch> */ + #ifndef MISSION_FEASIBILITY_CHECKER_H_ #define MISSION_FEASIBILITY_CHECKER_H_ @@ -59,14 +61,15 @@ private: /* Checks for all airframes */ bool checkGeofence(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence); + bool checkHomePositionAltitude(dm_item_t dm_current, size_t nMissionItems, float home_alt, bool throw_error = false); /* Checks specific to fixedwing airframes */ - bool checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence); + bool checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt); bool checkFixedWingLanding(dm_item_t dm_current, size_t nMissionItems); void updateNavigationCapabilities(); /* Checks specific to rotarywing airframes */ - bool checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence); + bool checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt); public: MissionFeasibilityChecker(); @@ -75,7 +78,7 @@ public: /* * Returns true if mission is feasible and false otherwise */ - bool checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence); + bool checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt); }; |