bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt)
{
/* 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, nMissionItems) && checkGeofence(dm_current, nMissionItems, geofence) && checkHomePositionAltitude(dm_current, nMissionItems, home_alt));
}
bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt, bool home_valid)
{
/* Update fixed wing navigation capabilites */
updateNavigationCapabilities();
/* Perform checks and issue feedback to the user for all checks */
bool resLanding = checkFixedWingLanding(dm_current, nMissionItems);
/* Mission is only marked as feasible if all checks return true */
return resLanding;
}
bool
MissionFeasibilityChecker::checkFixedwing(const mission_s &mission, float home_alt, bool home_alt_valid,
bool land_start_req)
{
/* Perform checks and issue feedback to the user for all checks */
bool resTakeoff = checkFixedWingTakeoff(mission, home_alt, home_alt_valid);
bool resLanding = checkFixedWingLanding(mission, land_start_req);
/* Mission is only marked as feasible if all checks return true */
return (resTakeoff && resLanding);
}
bool
MissionFeasibilityChecker::checkFixedwing(dm_item_t dm_current, size_t nMissionItems,
fw_pos_ctrl_status_s *fw_pos_ctrl_status, float home_alt, bool home_alt_valid,
float default_acceptance_rad, bool land_start_req)
{
/* Perform checks and issue feedback to the user for all checks */
bool resTakeoff = checkFixedWingTakeoff(dm_current, nMissionItems, home_alt, home_alt_valid, land_start_req);
bool resLanding = checkFixedWingLanding(dm_current, nMissionItems, fw_pos_ctrl_status, land_start_req);
/* Mission is only marked as feasible if all checks return true */
return (resTakeoff && resLanding);
}
bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt)
{
/* 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);
/* Perform checks and issue feedback to the user for all checks */
bool resLanding = checkFixedWingLanding(dm_current, nMissionItems);
bool resGeofence = checkGeofence(dm_current, nMissionItems, geofence);
bool resHomeAltitude = checkHomePositionAltitude(dm_current, nMissionItems, home_alt);
/* Mission is only marked as feasible if all checks return true */
return (resLanding && resGeofence && resHomeAltitude);
}