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navigator: allow mission items with same position (take 2) #14921

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May 19, 2020
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navigator: allow mission items with same position (take 2) #14921

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19 changes: 9 additions & 10 deletions src/modules/navigator/mission_feasibility_checker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -676,7 +676,6 @@ MissionFeasibilityChecker::checkDistancesBetweenWaypoints(const mission_s &missi

double last_lat = (double)NAN;
double last_lon = (double)NAN;
float last_alt = NAN;
int last_cmd = 0;

/* Go through all waypoints */
Expand Down Expand Up @@ -715,15 +714,16 @@ MissionFeasibilityChecker::checkDistancesBetweenWaypoints(const mission_s &missi

/* do not allow waypoints that are literally on top of each other */

} else if ((dist_between_waypoints < 0.05f && fabsf(last_alt - mission_item.altitude) < 0.05f) ||
/* and do not allow condition gates that are at the same position as a navigation waypoint */
(dist_between_waypoints < 0.05f && (mission_item.nav_cmd == NAV_CMD_CONDITION_GATE
|| last_cmd == NAV_CMD_CONDITION_GATE))) {
/* waypoints are at the exact same position,
* which indicates an invalid mission and makes calculating
* the direction from one waypoint to another impossible. */
/* and do not allow condition gates that are at the same position as a navigation waypoint */

} else if (dist_between_waypoints < 0.05f &&
(mission_item.nav_cmd == NAV_CMD_CONDITION_GATE || last_cmd == NAV_CMD_CONDITION_GATE)) {

/* Waypoints and gate are at the exact same position, which indicates an
* invalid mission and makes calculating the direction from one waypoint
* to another impossible. */
mavlink_log_critical(_navigator->get_mavlink_log_pub(),
"Distance between waypoints too close: %d meters",
"Distance between waypoint and gate too close: %d meters",
(int)dist_between_waypoints);

_navigator->get_mission_result()->warning = true;
Expand All @@ -733,7 +733,6 @@ MissionFeasibilityChecker::checkDistancesBetweenWaypoints(const mission_s &missi

last_lat = mission_item.lat;
last_lon = mission_item.lon;
last_alt = mission_item.altitude;
last_cmd = mission_item.nav_cmd;
}

Expand Down