forked from Archive/PX4-Autopilot
Actuator limits and channels corrrection
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477625a53c
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@ -307,14 +307,14 @@ MissionFeasibilityChecker::check_dist_1wp(dm_item_t dm_current, size_t nMissionI
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if (mission_item.nav_cmd == NAV_CMD_DO_SET_SERVO){
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if (mission_item.nav_cmd == NAV_CMD_DO_SET_SERVO){
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//check actuator number
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//check actuator number
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if (mission_item.actuator_num<1 || mission_item.actuator_num>6) {
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if (mission_item.actuator_num<0 || mission_item.actuator_num>5) {
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mavlink_log_critical(_mavlink_fd, "Actuator number %d is out of bounds 1..6", (int)mission_item.actuator_num);
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mavlink_log_critical(_mavlink_fd, "Actuator number %d is out of bounds 0..5", (int)mission_item.actuator_num);
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warning_issued = true;
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warning_issued = true;
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return false;
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return false;
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}
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}
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//check actuator value
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//check actuator value
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if (mission_item.actuator_value<900 || mission_item.actuator_value>2000) {
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if (mission_item.actuator_value<-2000 || mission_item.actuator_value>2000) {
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mavlink_log_critical(_mavlink_fd, "Actuator number %d is out of bounds 900..2000", (int)mission_item.actuator_value);
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mavlink_log_critical(_mavlink_fd, "Actuator value %d is out of bounds -2000..2000", (int)mission_item.actuator_value);
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warning_issued = true;
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warning_issued = true;
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return false;
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return false;
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}
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}
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