Rework 1st waypoint check #23568
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Rework 1st waypoint check #23568
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sfuhrer
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src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp
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src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp
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…ll accept mission as valid
… position instead of current position, so it is more constant during a flight
Co-authored-by: Silvan Fuhrer <[email protected]>
Signed-off-by: Silvan Fuhrer <[email protected]>
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) * FeasibilityChecker: only warn when first waypoint is too far, but still accept mission as valid * feasiblityChecker: make distance to first waypoint check against home position instead of current position, so it is more constant during a flight * Apply suggestions from code review Co-authored-by: Silvan Fuhrer <[email protected]> * feasibilityCheckerTest: update tests to not fail for first waypoint check * feasibilityChecker: make comment for 1stwaypointcheck event * Feasibility check unit test: fix comment Signed-off-by: Silvan Fuhrer <[email protected]> --------- Signed-off-by: Silvan Fuhrer <[email protected]> Co-authored-by: Silvan Fuhrer <[email protected]>
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Solved Problem
In the mission feasibility, it is checked if the 1st waypoint is too far from the current position. This means that the mission feasibility can change during flight if moving further away from the first waypoint. The mission feasibility should not be able to change depending on the current position of the AV. Especially when a long mission is flown and interrupted, the mission check should make a mission infeasible because the AV did fly away from the fist mission item.
Since the first waypoint mission check should indicate that potentially an old mission from another location is loaded in PX4 it should not be able to change the feasibility in flight
Fixes #{Github issue ID}
Solution
Changelog Entry
For release notes:
Alternatives
The home position can stil change during a flight and a even better point would be to specifically take a takeoff location which would be constant for an entire flight (AFAIK does not exist yet). Also it can still be argued if the check should make the whole mission infeasible, for simplicity, it was converted to a warning only.
Test coverage
Context
Related links, screenshot before/after, video