bool MissionFeasibilityChecker::checkMissionFeasible(int mavlink_fd, bool isRotarywing,
dm_item_t dm_current, size_t nMissionItems, Geofence &geofence,
float home_alt, bool home_valid, double curr_lat, double curr_lon, float max_waypoint_distance, bool &warning_issued,
float default_acceptance_rad,
bool condition_landed)
{
bool failed = false;
bool warned = false;
/* Init if not done yet */
init();
_mavlink_fd = mavlink_fd;
// first check if we have a valid position
if (!home_valid /* can later use global / local pos for finer granularity */) {
failed = true;
warned = true;
mavlink_log_info(_mavlink_fd, "Not yet ready for mission, no position lock.");
} else {
failed = failed || !check_dist_1wp(dm_current, nMissionItems, curr_lat, curr_lon, max_waypoint_distance, warning_issued);
}
// check if all mission item commands are supported
failed = failed || !checkMissionItemValidity(dm_current, nMissionItems, condition_landed);
failed = failed || !checkGeofence(dm_current, nMissionItems, geofence);
failed = failed || !checkHomePositionAltitude(dm_current, nMissionItems, home_alt, home_valid, warned);
if (isRotarywing) {
failed = failed || !checkMissionFeasibleRotarywing(dm_current, nMissionItems, geofence, home_alt, home_valid, default_acceptance_rad);
} else {
failed = failed || !checkMissionFeasibleFixedwing(dm_current, nMissionItems, geofence, home_alt, home_valid);
}
return !failed;
}
bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt)
{
/* Init if not done yet */
init();
/* Open mavlink fd */
if (_mavlink_fd < 0) {
/* try to open the mavlink log device every once in a while */
_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
}
if (isRotarywing)
return checkMissionFeasibleRotarywing(dm_current, nMissionItems, geofence, home_alt);
else
return checkMissionFeasibleFixedwing(dm_current, nMissionItems, geofence, home_alt);
}
bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt)
{
bool failed = false;
/* Init if not done yet */
init();
/* Open mavlink fd */
if (_mavlink_fd < 0) {
/* try to open the mavlink log device every once in a while */
_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
}
// check if all mission item commands are supported
failed |= !checkMissionItemValidity(dm_current, nMissionItems);
if (isRotarywing)
failed |= !checkMissionFeasibleRotarywing(dm_current, nMissionItems, geofence, home_alt);
else
failed |= !checkMissionFeasibleFixedwing(dm_current, nMissionItems, geofence, home_alt);
return !failed;
}
