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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-02-24 19:04:26 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-02-24 19:04:26 +0100 |
| commit | 88fe2d3052eccd542ffb5d3473d720b66b8679fd (patch) | |
| tree | d930d8edf5df6e99b5380199b0f4f787ed086ec6 /src/modules/navigator/mission_feasibility_checker.h | |
| parent | 9c02525e39f724e7a4a4b5c945a591a3a3366f67 (diff) | |
| download | px4-firmware-88fe2d3052eccd542ffb5d3473d720b66b8679fd.tar.gz px4-firmware-88fe2d3052eccd542ffb5d3473d720b66b8679fd.tar.bz2 px4-firmware-88fe2d3052eccd542ffb5d3473d720b66b8679fd.zip | |
mission feasibility checker: add check for waypoint altitude relative to home position 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 7a0b2a296..819dcf9c3 100644 --- a/src/modules/navigator/mission_feasibility_checker.h +++ b/src/modules/navigator/mission_feasibility_checker.h @@ -59,14 +59,15 @@ 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 +76,7 @@ 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); }; |