dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

navigator/mission feasibility: prepare for pre-mission fence checking

This commit is contained in:
Thomas Gubler 2014-01-01 21:54:33 +01:00
parent 09f29d0972
commit 4191ae33c2
3 changed files with 17 additions and 16 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

21
src/modules/navigator/mission_feasibility_checker.cpp
View File

@ -48,6 +48,7 @@
#include <stdio.h>
#include <fcntl.h>
#include <errno.h>
#include <uORB/topics/fence.h>
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
@ -61,7 +62,7 @@ MissionFeasibilityChecker::MissionFeasibilityChecker() : _mavlink_fd(-1), _capab
}
bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nItems)
bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, const struct fence_s &fence)
{
/* Init if not done yet */
init();
@ -74,39 +75,39 @@ bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_
if (isRotarywing)
return checkMissionFeasibleRotarywing(dm_current, nItems);
return checkMissionFeasibleRotarywing(dm_current, nMissionItems, fence);
else
return checkMissionFeasibleFixedwing(dm_current, nItems);
return checkMissionFeasibleFixedwing(dm_current, nMissionItems, fence);
}
bool MissionFeasibilityChecker::checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nItems)
bool MissionFeasibilityChecker::checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, const struct fence_s &fence)
{
return checkGeofence(dm_current, nItems);
return checkGeofence(dm_current, nMissionItems, fence);
}
bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nItems)
bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, const struct fence_s &fence)
{
/* 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, nItems) && checkGeofence(dm_current, nItems));
return (checkFixedWingLanding(dm_current, nMissionItems) && checkGeofence(dm_current, nMissionItems, fence));
}
bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nItems)
bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMissionItems, const struct fence_s &fence)
{
//xxx: check geofence
return true;
}
bool MissionFeasibilityChecker::checkFixedWingLanding(dm_item_t dm_current, size_t nItems)
bool MissionFeasibilityChecker::checkFixedWingLanding(dm_item_t dm_current, size_t nMissionItems)
{
/* Go through all mission items and search for a landing waypoint
* if landing waypoint is found: the previous waypoint is checked to be at a feasible distance and altitude given the landing slope */
for (size_t i = 0; i < nItems; i++) {
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) {

10
src/modules/navigator/mission_feasibility_checker.h
View File

@ -57,15 +57,15 @@ private:
void init();
/* Checks for all airframes */
bool checkGeofence(dm_item_t dm_current, size_t nItems);
bool checkGeofence(dm_item_t dm_current, size_t nMissionItems, const struct fence_s &fence);
/* Checks specific to fixedwing airframes */
bool checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nItems);
bool checkFixedWingLanding(dm_item_t dm_current, size_t nItems);
bool checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, const struct fence_s &fence);
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 nItems);
bool checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, const struct fence_s &fence);
public:
MissionFeasibilityChecker();
@ -74,7 +74,7 @@ public:
/*
* Returns true if mission is feasible and false otherwise
*/
bool checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nItems);
bool checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, const struct fence_s &fence);
};

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

@ -456,7 +456,7 @@ Navigator::offboard_mission_update(bool isrotaryWing)
} else {
dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1;
}
missionFeasiblityChecker.checkMissionFeasible(isrotaryWing, dm_current, (size_t)offboard_mission.count);
missionFeasiblityChecker.checkMissionFeasible(isrotaryWing, dm_current, (size_t)offboard_mission.count, _fence);
_mission.set_offboard_dataman_id(offboard_mission.dataman_id);
_mission.set_current_offboard_mission_index(offboard_mission.current_index);