Merge remote-tracking branch 'px4/master' into navigator_rewrite

Conflicts:
	src/modules/navigator/navigator_main.cpp

3 files changed, 62 insertions, 31 deletions

diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp
index 2f45f2267..e1a6854b2 100644
--- a/src/modules/navigator/mission_feasibility_checker.cpp
+++ b/src/modules/navigator/mission_feasibility_checker.cpp
@@ -63,7 +63,7 @@ MissionFeasibilityChecker::MissionFeasibilityChecker() : _mavlink_fd(-1), _capab
 }
 
 
-bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence)
+bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt)
 {
 	/* Init if not done yet */
 	init();
@@ -76,24 +76,24 @@ bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_
 
 
 	if (isRotarywing)
-		return checkMissionFeasibleRotarywing(dm_current, nMissionItems, geofence);
+		return checkMissionFeasibleRotarywing(dm_current, nMissionItems, geofence, home_alt);
 	else
-		return checkMissionFeasibleFixedwing(dm_current, nMissionItems, geofence);
+		return checkMissionFeasibleFixedwing(dm_current, nMissionItems, geofence, home_alt);
 }
 
-bool MissionFeasibilityChecker::checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence)
+bool MissionFeasibilityChecker::checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt)
 {
 
-	return checkGeofence(dm_current, nMissionItems, geofence);
+	return  (checkGeofence(dm_current, nMissionItems, geofence) && checkHomePositionAltitude(dm_current, nMissionItems, home_alt));
 }
 
-bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence)
+bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt)
 {
 	/* 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, geofence));
+	return (checkFixedWingLanding(dm_current, nMissionItems) && checkGeofence(dm_current, nMissionItems, geofence) && checkHomePositionAltitude(dm_current, nMissionItems, home_alt));
 }
 
 bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence)
@@ -109,7 +109,7 @@ bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMiss
 				return false;
 			}
 
-			if (!geofence.inside(missionitem.lat, missionitem.lon, missionitem.altitude)) { //xxx: handle relative altitude
+			if (!geofence.inside(missionitem.lat, missionitem.lon, missionitem.altitude)) {
 				mavlink_log_info(_mavlink_fd, "#audio: Geofence violation waypoint %d", i);
 				return false;
 			}
@@ -119,6 +119,36 @@ bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMiss
 	return true;
 }
 
+bool MissionFeasibilityChecker::checkHomePositionAltitude(dm_item_t dm_current, size_t nMissionItems, float home_alt, bool throw_error)
+{
+	/* Check if all all waypoints are above the home altitude, only return false if bool throw_error = true */
+	for (size_t i = 0; i < nMissionItems; i++) {
+		static struct mission_item_s missionitem;
+		const ssize_t len = sizeof(struct mission_item_s);
+
+		if (dm_read(dm_current, i, &missionitem, len) != len) {
+			/* not supposed to happen unless the datamanager can't access the SD card, etc. */
+			if (throw_error) {
+				return false;
+			} else	{
+				return true;
+			}
+		}
+
+		if (home_alt > missionitem.altitude) {
+			if (throw_error) {
+				mavlink_log_info(_mavlink_fd, "Waypoint %d below home", i);
+				return false;
+			} else	{
+				mavlink_log_info(_mavlink_fd, "#audio: warning waypoint %d below home", i);
+				return true;
+			}
+		}
+	}
+
+	return true;
+}
+
 bool MissionFeasibilityChecker::checkFixedWingLanding(dm_item_t dm_current, size_t nMissionItems)
 {
 	/* Go through all mission items and search for a landing waypoint
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);
 
 };
 
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index b991ffc8c..f91032196 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -674,11 +674,10 @@ Navigator::check_mission_item_reached()
 		return _vstatus.condition_landed;
 	}
 
-	/* TODO: count turns */
-	// if ((_mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||
-	//      _mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
-	//      _mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED) &&
-	//     _mission_item.loiter_radius > 0.01f) {
+	/* XXX TODO count turns */
+	if ((_mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||
+	     _mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED) &&
+	    _mission_item.loiter_radius > 0.01f) {
 
 	// 	return false;
 	// }
@@ -695,24 +694,26 @@ Navigator::check_mission_item_reached()
 			acceptance_radius = _parameters.acceptance_radius;
 		}
 
-		float dist = -1.0f;
-		float dist_xy = -1.0f;
-		float dist_z = -1.0f;
-
-		float altitude_amsl = _mission_item.altitude_is_relative
-					? _mission_item.altitude + _home_pos.alt : _mission_item.altitude;
-
-		dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, altitude_amsl,
-				_global_pos.lat, _global_pos.lon, _global_pos.alt,
-				&dist_xy, &dist_z);
-
-		if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF) {
-
+		if (_do_takeoff) {
 			/* require only altitude for takeoff */
-			if (_global_pos.alt > altitude_amsl - acceptance_radius) {
+			if (_global_pos.alt > _pos_sp_triplet.current.alt - acceptance_radius) {
 				_waypoint_position_reached = true;
 			}
 		} else {
+			float dist = -1.0f;
+			float dist_xy = -1.0f;
+			float dist_z = -1.0f;
+
+			/* calculate AMSL altitude for this waypoint */
+			float wp_alt_amsl = _mission_item.altitude;
+
+			if (_mission_item.altitude_is_relative)
+				wp_alt_amsl += _home_pos.alt;
+
+			dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, wp_alt_amsl,
+					(double)_global_pos.lat, (double)_global_pos.lon, _global_pos.alt,
+					&dist_xy, &dist_z);
+
 			if (dist >= 0.0f && dist <= acceptance_radius) {
 				_waypoint_position_reached = true;
 			}
@@ -765,7 +766,6 @@ Navigator::reset_reached()
 	_waypoint_yaw_reached = false;
 
 }
-#endif
 void
 Navigator::publish_position_setpoint_triplet()
 {