Merge remote-tracking branch 'upstream/master' into offboard2_externalsetpointmessages

Conflicts:
	src/modules/mavlink/mavlink_main.cpp

5 files changed, 32 insertions, 12 deletions

diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp
index dd7f4c801..606521f20 100644
--- a/src/modules/navigator/mission_feasibility_checker.cpp
+++ b/src/modules/navigator/mission_feasibility_checker.cpp
@@ -135,12 +135,15 @@ bool MissionFeasibilityChecker::checkHomePositionAltitude(dm_item_t dm_current,
 			}
 		}
 
-		if (home_alt > missionitem.altitude) {
+		/* calculate the global waypoint altitude */
+		float wp_alt = (missionitem.altitude_is_relative) ? missionitem.altitude + home_alt : missionitem.altitude;
+
+		if (home_alt > wp_alt) {
 			if (throw_error) {
-				mavlink_log_info(_mavlink_fd, "Waypoint %d below home", i);
+				mavlink_log_critical(_mavlink_fd, "Rejecting Mission: Waypoint %d below home", i);
 				return false;
 			} else	{
-				mavlink_log_info(_mavlink_fd, "#audio: warning waypoint %d below home", i);
+				mavlink_log_critical(_mavlink_fd, "Warning: Waypoint %d below home", i);
 				return true;
 			}
 		}
diff --git a/src/modules/navigator/module.mk b/src/modules/navigator/module.mk
index 637eaae59..b50198996 100644
--- a/src/modules/navigator/module.mk
+++ b/src/modules/navigator/module.mk
@@ -54,3 +54,5 @@ SRCS		= navigator_main.cpp \
 INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink
 
 MODULE_STACKSIZE = 1200
+
+EXTRACXXFLAGS	= -Weffc++
diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h
index bf6e2ea0e..8edbb63b3 100644
--- a/src/modules/navigator/navigator.h
+++ b/src/modules/navigator/navigator.h
@@ -222,5 +222,11 @@ private:
 	 * Publish a new position setpoint triplet for position controllers
 	 */
 	void		publish_position_setpoint_triplet();
+
+	/* this class has ptr data members, so it should not be copied,
+	 * consequently the copy constructors are private.
+	 */
+	Navigator(const Navigator&);
+	Navigator operator=(const Navigator&);
 };
 #endif
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 1a5ba4c1a..331a9a728 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -105,17 +105,18 @@ Navigator::Navigator() :
 	_control_mode_sub(-1),
 	_onboard_mission_sub(-1),
 	_offboard_mission_sub(-1),
+	_param_update_sub(-1),
 	_pos_sp_triplet_pub(-1),
-	_vstatus({}),
-	_control_mode({}),
-	_global_pos({}),
-	_home_pos({}),
-	_mission_item({}),
-	_nav_caps({}),
-	_pos_sp_triplet({}),
+	_vstatus{},
+	_control_mode{},
+	_global_pos{},
+	_home_pos{},
+	_mission_item{},
+	_nav_caps{},
+	_pos_sp_triplet{},
 	_mission_item_valid(false),
 	_loop_perf(perf_alloc(PC_ELAPSED, "navigator")),
-	_geofence({}),
+	_geofence{},
 	_geofence_violation_warning_sent(false),
 	_fence_valid(false),
 	_inside_fence(true),
@@ -124,6 +125,8 @@ Navigator::Navigator() :
 	_loiter(this, "LOI"),
 	_rtl(this, "RTL"),
 	_offboard(this, "OFF"),
+	_can_loiter_at_sp(false),
+	_pos_sp_triplet_updated(false),
 	_param_loiter_radius(this, "LOITER_RAD"),
 	_param_acceptance_radius(this, "ACC_RAD")
 {
@@ -455,7 +458,7 @@ void
 Navigator::publish_position_setpoint_triplet()
 {
 	/* update navigation state */
-	/* TODO: set nav_state */
+	_pos_sp_triplet.nav_state = _vstatus.nav_state;
 
 	/* lazily publish the position setpoint triplet only once available */
 	if (_pos_sp_triplet_pub > 0) {
diff --git a/src/modules/navigator/navigator_mode.h b/src/modules/navigator/navigator_mode.h
index a7ba79bba..de5545dcb 100644
--- a/src/modules/navigator/navigator_mode.h
+++ b/src/modules/navigator/navigator_mode.h
@@ -88,6 +88,12 @@ protected:
 
 private:
 	bool _first_run;
+
+	/* this class has ptr data members, so it should not be copied,
+	 * consequently the copy constructors are private.
+	 */
+	NavigatorMode(const NavigatorMode&);
+	NavigatorMode operator=(const NavigatorMode&);
 };
 
 #endif