From de56f64076dd4163c0f3ad47c1459dbc93dbcba6 Mon Sep 17 00:00:00 2001 From: Alessandro Simovic Date: Fri, 28 Jul 2023 08:43:18 +0200 Subject: [PATCH] navigator: remove checkIfBelowHomeAltitude --- .../MissionFeasibility/FeasibilityChecker.cpp | 20 ------------------- .../MissionFeasibility/FeasibilityChecker.hpp | 11 ---------- 2 files changed, 31 deletions(-) diff --git a/src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp b/src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp index b31dacd9ce..68dbd2509d 100644 --- a/src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp +++ b/src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp @@ -58,7 +58,6 @@ void FeasibilityChecker::reset() _land_pattern_validity_failed = false; _distance_first_waypoint_failed = false; _distance_between_waypoints_failed = false; - _below_home_alt_failed = false; _fixed_wing_land_approach_failed = false; _takeoff_land_available_failed = false; @@ -199,10 +198,6 @@ void FeasibilityChecker::doCommonChecks(mission_item_s &mission_item, const int _distance_first_waypoint_failed = !checkHorizontalDistanceToFirstWaypoint(mission_item); } - if (!_below_home_alt_failed) { - _below_home_alt_failed = !checkIfBelowHomeAltitude(mission_item, current_index); - } - if (!_takeoff_failed) { _takeoff_failed = !checkTakeoff(mission_item); } @@ -682,21 +677,6 @@ bool FeasibilityChecker::checkDistancesBetweenWaypoints(const mission_item_s &mi return true; } -bool FeasibilityChecker::checkIfBelowHomeAltitude(const mission_item_s &mission_item, const int current_index) -{ - /* calculate the global waypoint altitude */ - float wp_alt = (mission_item.altitude_is_relative) ? mission_item.altitude + _home_alt_msl : mission_item.altitude; - - if (PX4_ISFINITE(_home_alt_msl) && _home_alt_msl > wp_alt && MissionBlock::item_contains_position(mission_item)) { - - mavlink_log_critical(_mavlink_log_pub, "Warning: Waypoint %d below home\t", current_index + 1); - events::send(events::ID("navigator_mis_wp_below_home"), {events::Log::Warning, events::LogInternal::Info}, - "Waypoint {1} below home", current_index + 1); - } - - return true; -} - bool FeasibilityChecker::checkItemsFitToVehicleType(const mission_item_s &mission_item) { if (_vehicle_type != VehicleType::Vtol && diff --git a/src/modules/navigator/MissionFeasibility/FeasibilityChecker.hpp b/src/modules/navigator/MissionFeasibility/FeasibilityChecker.hpp index 493d618cce..d6c859932b 100644 --- a/src/modules/navigator/MissionFeasibility/FeasibilityChecker.hpp +++ b/src/modules/navigator/MissionFeasibility/FeasibilityChecker.hpp @@ -81,7 +81,6 @@ public: _distance_between_waypoints_failed || _land_pattern_validity_failed || _fixed_wing_land_approach_failed || - _below_home_alt_failed || _mission_validity_failed || _takeoff_land_available_failed; } @@ -117,7 +116,6 @@ private: bool _land_pattern_validity_failed{false}; bool _distance_first_waypoint_failed{false}; bool _distance_between_waypoints_failed{false}; - bool _below_home_alt_failed{false}; bool _fixed_wing_land_approach_failed{false}; bool _takeoff_land_available_failed{false}; bool _items_fit_to_vehicle_type_failed{false}; @@ -198,15 +196,6 @@ private: */ bool checkDistancesBetweenWaypoints(const mission_item_s &mission_item); - /** - * @brief Check if any waypoint is below the home altitude. Issues warning only. - * - * @param mission_item The current mission item - * @param current_index The current mission index - * @return Always returns true, only issues warning. - */ - bool checkIfBelowHomeAltitude(const mission_item_s &mission_item, const int current_index); - /** * @brief Check fixed wing land approach (fixed wing only) *