diff options
Diffstat (limited to 'src/modules/navigator/mission_feasibility_checker.cpp')
| -rw-r--r-- | src/modules/navigator/mission_feasibility_checker.cpp | 59 |
1 files changed, 45 insertions, 14 deletions
diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp index eaafa217d..e1a6854b2 100644 --- a/src/modules/navigator/mission_feasibility_checker.cpp +++ b/src/modules/navigator/mission_feasibility_checker.cpp @@ -1,8 +1,6 @@ /**************************************************************************** * * Copyright (c) 2013 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier <lm@inf.ethz.ch> - * @author Thomas Gubler <thomasgubler@student.ethz.ch> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -35,6 +33,9 @@ /** * @file mission_feasibility_checker.cpp * Provides checks if mission is feasible given the navigation capabilities + * + * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Thomas Gubler <thomasgubler@student.ethz.ch> */ #include "mission_feasibility_checker.h" @@ -62,7 +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(); @@ -75,24 +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) @@ -100,15 +101,15 @@ bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMiss /* Check if all mission items are inside the geofence (if we have a valid geofence) */ if (geofence.valid()) { for (size_t i = 0; i < nMissionItems; i++) { - static struct mission_item_s missionitem; - const ssize_t len = sizeof(struct mission_item_s); + struct mission_item_s missionitem; + const ssize_t len = sizeof(missionitem); if (dm_read(dm_current, i, &missionitem, len) != len) { /* not supposed to happen unless the datamanager can't access the SD card, etc. */ 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; } @@ -118,6 +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 @@ -125,8 +156,8 @@ bool MissionFeasibilityChecker::checkFixedWingLanding(dm_item_t dm_current, size for (size_t i = 0; i < nMissionItems; i++) { - static struct mission_item_s missionitem; - const ssize_t len = sizeof(struct mission_item_s); + struct mission_item_s missionitem; + const ssize_t len = sizeof(missionitem); if (dm_read(dm_current, i, &missionitem, len) != len) { /* not supposed to happen unless the datamanager can't access the SD card, etc. */ return false; |