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Mission+RTL: Refactoring mission and RTL to keep them separate. RTL does all its mission related computation in its own class.

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Dataman: Add write function to dataman cache.

RTL and mission have a new common base class mission_base. Both inherit from them and mission, RTL mission, and rtl reverse mission inherit from them and implement their desired functionalities. This simplifies the logic in mission as well as make the logic in rtl mission reverse and mission more readable.
Rtl mission reverse now functional again for VTOL flying back the mission and transitioning to MC at the home position.
Dataman cache has new write functionality to write to dataman while updating write item in its cache if necessary.
Dataman cache is now only updated when the respective module is active. Leads to a higher computation time once on activation, but decreases unnecessary cache updates when inactive.
This commit is contained in:
Konrad
2023-09-29 14:25:03 +02:00
committed by Silvan Fuhrer
parent 1a7e438099
commit 007ed11bbe
24 changed files with 4561 additions and 3237 deletions
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src/modules/navigator/mission_block.cpp
+40 -1
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@@ -901,15 +901,54 @@ MissionBlock::mission_apply_limitation(mission_item_s &item)
float
MissionBlock::get_absolute_altitude_for_item(const mission_item_s &mission_item) const
{
return get_absolute_altitude_for_item(mission_item, _navigator->get_home_position()->alt);
}
float
MissionBlock::get_absolute_altitude_for_item(const mission_item_s &mission_item, float home_alt)
{
if (mission_item.altitude_is_relative) {
return mission_item.altitude + _navigator->get_home_position()->alt;
return mission_item.altitude + home_alt;
} else {
return mission_item.altitude;
}
}
void
MissionBlock::copy_position_if_valid(struct mission_item_s *const mission_item,
const struct position_setpoint_s *const setpoint) const
{
if (setpoint->valid && setpoint->type == position_setpoint_s::SETPOINT_TYPE_POSITION) {
mission_item->lat = setpoint->lat;
mission_item->lon = setpoint->lon;
mission_item->altitude = setpoint->alt;
} else {
mission_item->lat = _navigator->get_global_position()->lat;
mission_item->lon = _navigator->get_global_position()->lon;
mission_item->altitude = _navigator->get_global_position()->alt;
}
mission_item->altitude_is_relative = false;
}
void
MissionBlock::set_align_mission_item(struct mission_item_s *const mission_item,
const struct mission_item_s *const mission_item_next) const
{
mission_item->nav_cmd = NAV_CMD_WAYPOINT;
copy_position_if_valid(mission_item, &(_navigator->get_position_setpoint_triplet()->current));
mission_item->altitude_is_relative = false;
mission_item->autocontinue = true;
mission_item->time_inside = 0.0f;
mission_item->yaw = get_bearing_to_next_waypoint(
_navigator->get_global_position()->lat, _navigator->get_global_position()->lon,
mission_item_next->lat, mission_item_next->lon);
mission_item->force_heading = true;
}
void
MissionBlock::initialize()
{