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author | Thomas Gubler <thomasgubler@gmail.com> | 2014-05-28 19:45:20 +0200 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-05-28 19:45:20 +0200 |
commit | ad2fccdf9b48e5e619a11e6a8ce88eed0b914098 (patch) | |
tree | c2dd79f8e46dd6159c7222bfeb8a8db30e465604 /src/modules | |
parent | 10e2a6696976a5210d826dd5826b87db76990eaa (diff) | |
parent | 9ecdb1450520b4befd7c1bbf73aae4f75a0c6edd (diff) | |
download | px4-firmware-ad2fccdf9b48e5e619a11e6a8ce88eed0b914098.tar.gz px4-firmware-ad2fccdf9b48e5e619a11e6a8ce88eed0b914098.tar.bz2 px4-firmware-ad2fccdf9b48e5e619a11e6a8ce88eed0b914098.zip |
Merge remote-tracking branch 'upstream/master' into mtecs
Diffstat (limited to 'src/modules')
-rw-r--r-- | src/modules/ekf_att_pos_estimator/estimator.cpp | 2 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 4 | ||||
-rw-r--r-- | src/modules/navigator/mission_feasibility_checker.cpp | 46 | ||||
-rw-r--r-- | src/modules/navigator/mission_feasibility_checker.h | 7 | ||||
-rw-r--r-- | src/modules/navigator/navigator_main.cpp | 2 |
5 files changed, 46 insertions, 15 deletions
diff --git a/src/modules/ekf_att_pos_estimator/estimator.cpp b/src/modules/ekf_att_pos_estimator/estimator.cpp index 23ecd89ac..5db1adbb3 100644 --- a/src/modules/ekf_att_pos_estimator/estimator.cpp +++ b/src/modules/ekf_att_pos_estimator/estimator.cpp @@ -5,7 +5,7 @@ // Define EKF_DEBUG here to enable the debug print calls // if the macro is not set, these will be completely // optimized out by the compiler. -#define EKF_DEBUG +//#define EKF_DEBUG #ifdef EKF_DEBUG #include <stdio.h> diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 28dd97fca..bb1ad86ef 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -415,7 +415,7 @@ Mavlink::instance_exists(const char *device_name, Mavlink *self) void Mavlink::forward_message(mavlink_message_t *msg, Mavlink *self) { - + Mavlink *inst; LL_FOREACH(_mavlink_instances, inst) { if (inst != self) { @@ -886,7 +886,7 @@ int Mavlink::map_mavlink_mission_item_to_mission_item(const mavlink_mission_item switch (mavlink_mission_item->command) { case MAV_CMD_NAV_TAKEOFF: - mission_item->pitch_min = mavlink_mission_item->param2; + mission_item->pitch_min = mavlink_mission_item->param1; break; default: 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 87c893079..401d50f7e 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -519,7 +519,7 @@ Navigator::offboard_mission_update(bool isrotaryWing) dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1; } - missionFeasiblityChecker.checkMissionFeasible(isrotaryWing, dm_current, (size_t)offboard_mission.count, _geofence); + missionFeasiblityChecker.checkMissionFeasible(isrotaryWing, dm_current, (size_t)offboard_mission.count, _geofence, _home_pos.alt); _mission.set_offboard_dataman_id(offboard_mission.dataman_id); |