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Navigator: output new mission status

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This commit is contained in:
Lorenz Meier 2015-06-13 18:37:32 +02:00
parent a4b2389460
commit 174f4d27f3
2 changed files with 19 additions and 0 deletions
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18
src/modules/navigator/mission.cpp
View File

@ -78,6 +78,7 @@ Mission::Mission(Navigator *navigator, const char *name) :
_takeoff(false),
_mission_type(MISSION_TYPE_NONE),
_inited(false),
_home_inited(false),
_dist_1wp_ok(false),
_missionFeasiblityChecker(),
_min_current_sp_distance_xy(FLT_MAX),
@ -110,6 +111,22 @@ Mission::on_inactive()
update_offboard_mission();
}
/* check if the home position became valid in the meantime */
if ((_mission_type == MISSION_TYPE_NONE || _mission_type == MISSION_TYPE_OFFBOARD) &&
!_home_inited && _navigator->home_position_valid()) {
dm_item_t dm_current = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id);
_navigator->get_mission_result()->valid = _missionFeasiblityChecker.checkMissionFeasible(_navigator->get_mavlink_fd(), _navigator->get_vstatus()->is_rotary_wing,
dm_current, (size_t) _offboard_mission.count, _navigator->get_geofence(),
_navigator->get_home_position()->alt, _navigator->home_position_valid());
_navigator->increment_mission_instance_count();
_navigator->set_mission_result_updated();
_home_inited = true;
}
} else {
/* read mission topics on initialization */
_inited = true;
@ -176,6 +193,7 @@ Mission::on_active()
&& _mission_type != MISSION_TYPE_NONE) {
heading_sp_update();
}
}
void

1
src/modules/navigator/mission.h
View File

@ -186,6 +186,7 @@ private:
} _mission_type;
bool _inited;
bool _home_inited;
bool _dist_1wp_ok;
MissionFeasibilityChecker _missionFeasiblityChecker; /**< class that checks if a mission is feasible */