fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 01:33:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

navigator: use mission topic to notify about geofence & safe point changes

Browse Source 
This avoids the need to regularly access dataman for checking.
This commit is contained in:
Beat Küng
2023-07-24 13:10:31 +02:00
parent de598f3e7e
commit 16a144c00f
4 changed files with 23 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink_mission.cpp
+5 -1
View File
@@ -146,6 +146,8 @@ MavlinkMissionManager::update_active_mission(dm_item_t dataman_id, uint16_t coun
mission.dataman_id = dataman_id;
mission.count = count;
mission.current_seq = seq;
mission.geofence_update_counter = _geofence_update_counter;
mission.safe_points_update_counter = _safepoint_update_counter;
/* update active mission state */
_dataman_id = dataman_id;
@@ -161,7 +163,7 @@ MavlinkMissionManager::update_geofence_count(unsigned count)
{
mission_stats_entry_s stats;
stats.num_items = count;
stats.update_counter = ++_geofence_update_counter; // this makes sure navigator will reload the fence data
stats.update_counter = ++_geofence_update_counter;
/* update stats in dataman */
bool success = _dataman_client.writeSync(DM_KEY_FENCE_POINTS, 0, reinterpret_cast<uint8_t *>(&stats),
@@ -181,6 +183,7 @@ MavlinkMissionManager::update_geofence_count(unsigned count)
return PX4_ERROR;
}
update_active_mission(_dataman_id, _count[MAV_MISSION_TYPE_MISSION], _current_seq);
return PX4_OK;
}
@@ -209,6 +212,7 @@ MavlinkMissionManager::update_safepoint_count(unsigned count)
return PX4_ERROR;
}
update_active_mission(_dataman_id, _count[MAV_MISSION_TYPE_MISSION], _current_seq);
return PX4_OK;
}