diff options
Diffstat (limited to 'src/modules/navigator/navigator_main.cpp')
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 26 |
1 files changed, 20 insertions, 6 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 48f828ff7..c7ac885b4 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -76,6 +76,7 @@ #include <mavlink/mavlink_log.h> #include "navigator_mission.h" +#include "mission_feasibility_checker.h" /* oddly, ERROR is not defined for c++ */ @@ -165,6 +166,8 @@ private: bool _waypoint_yaw_reached; uint64_t _time_first_inside_orbit; + MissionFeasibilityChecker missionFeasiblityChecker; + struct { float min_altitude; float loiter_radius; @@ -228,7 +231,7 @@ private: /** * Retrieve offboard mission. */ - void offboard_mission_update(); + void offboard_mission_update(bool isrotaryWing); /** * Retrieve onboard mission. @@ -435,11 +438,21 @@ Navigator::navigation_capabilities_update() void -Navigator::offboard_mission_update() +Navigator::offboard_mission_update(bool isrotaryWing) { struct mission_s offboard_mission; if (orb_copy(ORB_ID(mission), _offboard_mission_sub, &offboard_mission) == OK) { + /* Check mission feasibility, for now do not handle the return value, + * however warnings are issued to the gcs via mavlink from inside the MissionFeasiblityChecker */ + dm_item_t dm_current; + if (offboard_mission.dataman_id == 0) { + dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0; + } else { + dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1; + } + missionFeasiblityChecker.checkMissionFeasible(isrotaryWing, dm_current, (size_t)offboard_mission.count); + _mission.set_offboard_dataman_id(offboard_mission.dataman_id); _mission.set_current_offboard_mission_index(offboard_mission.current_index); _mission.set_offboard_mission_count(offboard_mission.count); @@ -503,13 +516,14 @@ Navigator::task_main() /* copy all topics first time */ + vehicle_status_update(); parameters_update(); global_position_update(); home_position_update(); navigation_capabilities_update(); - offboard_mission_update(); + offboard_mission_update(_vstatus.is_rotary_wing); onboard_mission_update(); - vehicle_status_update(); + /* rate limit vehicle status updates to 5Hz */ orb_set_interval(_vstatus_sub, 200); @@ -632,7 +646,7 @@ Navigator::task_main() } if (fds[4].revents & POLLIN) { - offboard_mission_update(); + offboard_mission_update(_vstatus.is_rotary_wing); // XXX check if mission really changed dispatch(EVENT_MISSION_CHANGED); } @@ -1311,4 +1325,4 @@ Navigator::add_home_pos_to_rtl(struct mission_item_s *new_mission_item) new_mission_item->loiter_radius = _parameters.loiter_radius; // TODO: get rid of magic number new_mission_item->radius = 50.0f; // TODO: get rid of magic number } -}
\ No newline at end of file +} |