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only use the default acceptance radius for checking mission feasibility

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This commit is contained in:
Andreas Antener
2016-03-27 14:09:59 +02:00
committed by Lorenz Meier
parent 727783fe94
commit 7f5a2b1bac
3 changed files with 13 additions and 2 deletions
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4
src/modules/navigator/mission.cpp
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@@ -277,7 +277,7 @@ Mission::update_offboard_mission()
dm_current, (size_t) _offboard_mission.count, _navigator->get_geofence(),
_navigator->get_home_position()->alt, _navigator->home_position_valid(),
_navigator->get_global_position()->lat, _navigator->get_global_position()->lon,
_param_dist_1wp.get(), _navigator->get_mission_result()->warning, _navigator->get_acceptance_radius(),
_param_dist_1wp.get(), _navigator->get_mission_result()->warning, _navigator->get_default_acceptance_radius(),
_navigator->get_vstatus()->condition_landed);
_navigator->get_mission_result()->valid = !failed;
@@ -1120,7 +1120,7 @@ Mission::check_mission_valid()
dm_current, (size_t) _offboard_mission.count, _navigator->get_geofence(),
_navigator->get_home_position()->alt, _navigator->home_position_valid(),
_navigator->get_global_position()->lat, _navigator->get_global_position()->lon,
_param_dist_1wp.get(), _navigator->get_mission_result()->warning, _navigator->get_acceptance_radius(),
_param_dist_1wp.get(), _navigator->get_mission_result()->warning, _navigator->get_default_acceptance_radius(),
_navigator->get_vstatus()->condition_landed);
_navigator->increment_mission_instance_count();

5
src/modules/navigator/navigator.h
View File

@@ -150,6 +150,11 @@ public:
bool get_can_loiter_at_sp() { return _can_loiter_at_sp; }
float get_loiter_radius() { return _param_loiter_radius.get(); }
/**
* Returns the default acceptance radius defined by the parameter
*/
float get_default_acceptance_radius();
/**
* Get the acceptance radius
*

6
src/modules/navigator/navigator_main.cpp
View File

@@ -610,6 +610,12 @@ Navigator::publish_position_setpoint_triplet()
}
}
float
Navigator::get_default_acceptance_radius()
{
return _param_acceptance_radius.get();
}
float
Navigator::get_acceptance_radius()
{