From 7f5a2b1baceca0159ed03d936a3de1731a7cecae Mon Sep 17 00:00:00 2001
From: Andreas Antener <antener_a@gmx.ch>
Date: Sun, 27 Mar 2016 14:09:59 +0200
Subject: [PATCH] only use the default acceptance radius for checking mission
feasibility
---
src/modules/navigator/mission.cpp | 4 ++--
src/modules/navigator/navigator.h | 5 +++++
src/modules/navigator/navigator_main.cpp | 6 ++++++
3 files changed, 13 insertions(+), 2 deletions(-)
diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index 4005ba1cbf..7ccc18ad3b 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -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();
diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h
index a55b8bd6a1..067aa7b556 100644
--- a/src/modules/navigator/navigator.h
+++ b/src/modules/navigator/navigator.h
@@ -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
*
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 78e9bca0fe..871e54c656 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -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()
{
--
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