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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-05-28 16:05:56 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-05-28 16:05:56 +0200 |
| commit | 38b6bc2f72e45087ea7b87519b53db589f0f89f3 (patch) | |
| tree | 5061e7ab37f96817e61c8849948fc6039c8b52e7 /src/modules/navigator/mission_feasibility_checker.h | |
| parent | 9ea0b2189992830f2698c7d4703ff472072a61b1 (diff) | |
| parent | c6e2ad918b50f01ec9e26ccd7fdb88c7c0d2a60c (diff) | |
| download | px4-firmware-38b6bc2f72e45087ea7b87519b53db589f0f89f3.tar.gz px4-firmware-38b6bc2f72e45087ea7b87519b53db589f0f89f3.tar.bz2 px4-firmware-38b6bc2f72e45087ea7b87519b53db589f0f89f3.zip | |
Merge pull request #694 from thomasgubler/beta_homealtitudewarning
mission feasibility checker: add warning if waypoint is below home altitude
Diffstat (limited to 'src/modules/navigator/mission_feasibility_checker.h')
| -rw-r--r-- | src/modules/navigator/mission_feasibility_checker.h | 7 |
1 files changed, 4 insertions, 3 deletions
diff --git a/src/modules/navigator/mission_feasibility_checker.h b/src/modules/navigator/mission_feasibility_checker.h index f98e28462..96c9209d3 100644 --- a/src/modules/navigator/mission_feasibility_checker.h +++ b/src/modules/navigator/mission_feasibility_checker.h @@ -61,14 +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(); @@ -77,7 +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); }; |