fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 05:13:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

mision: only run mission feasibility checks when mission updated

Browse Source 
Instead of also when geofence/safe points updated.
This prevents reporting multiple times.
This commit is contained in:
Beat Küng
2023-07-24 13:10:31 +02:00
parent 72955221cb
commit 133aeb10a6
4 changed files with 29 additions and 18 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/mission.cpp
+20 -18
View File
@@ -624,29 +624,31 @@ Mission::update_mission()
/* otherwise, just leave it */
}
check_mission_valid(true);
if (old_mission.mission_update_counter != _mission.mission_update_counter) {
check_mission_valid(true);
failed = !_navigator->get_mission_result()->valid;
failed = !_navigator->get_mission_result()->valid;
if (!failed) {
/* reset mission failure if we have an updated valid mission */
_navigator->get_mission_result()->failure = false;
if (!failed) {
/* reset mission failure if we have an updated valid mission */
_navigator->get_mission_result()->failure = false;
/* reset sequence info as well */
_navigator->get_mission_result()->seq_reached = -1;
_navigator->get_mission_result()->seq_total = _mission.count;
/* reset sequence info as well */
_navigator->get_mission_result()->seq_reached = -1;
_navigator->get_mission_result()->seq_total = _mission.count;
/* reset work item if new mission has been accepted */
_work_item_type = WORK_ITEM_TYPE_DEFAULT;
_mission_changed = true;
}
/* reset work item if new mission has been accepted */
_work_item_type = WORK_ITEM_TYPE_DEFAULT;
_mission_changed = true;
}
/* check if the mission waypoints changed while the vehicle is in air
* TODO add a flag to mission_s which actually tracks if the position of the waypoint changed */
if (((_mission.count != old_mission.count) ||
(_mission.dataman_id != old_mission.dataman_id)) &&
!_navigator->get_land_detected()->landed) {
_mission_waypoints_changed = true;
/* check if the mission waypoints changed while the vehicle is in air
* TODO add a flag to mission_s which actually tracks if the position of the waypoint changed */
if (((_mission.count != old_mission.count) ||
(_mission.dataman_id != old_mission.dataman_id)) &&
!_navigator->get_land_detected()->landed) {
_mission_waypoints_changed = true;
}
}
} else {