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Merge pull request #694 from thomasgubler/beta_homealtitudewarning 

mission feasibility checker: add warning if waypoint is below home altitude
This commit is contained in:
Thomas Gubler 2014-05-28 16:05:56 +02:00
parent 9ea0b21899 c6e2ad918b
commit 38b6bc2f72
3 changed files with 43 additions and 12 deletions
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46
src/modules/navigator/mission_feasibility_checker.cpp
View File

@ -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

7
src/modules/navigator/mission_feasibility_checker.h
View File

@ -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);
};

2
src/modules/navigator/navigator_main.cpp
View File

@ -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);