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camera_trigger : completely refactor state handling

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This commit is contained in:
Mohammed Kabir
2017-05-12 22:11:17 +02:00
committed by Lorenz Meier
parent 7af7c86384
commit 2e92a3946d
9 changed files with 341 additions and 218 deletions
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src/modules/navigator/mission_block.cpp
+4
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@@ -73,6 +73,7 @@ bool
MissionBlock::is_mission_item_reached()
{
/* handle non-navigation or indefinite waypoints */
switch (_mission_item.nav_cmd) {
case NAV_CMD_DO_SET_SERVO:
return true;
@@ -86,6 +87,7 @@ MissionBlock::is_mission_item_reached()
return false;
case NAV_CMD_DO_LAND_START:
case NAV_CMD_DO_TRIGGER_CONTROL:
case NAV_CMD_DO_DIGICAM_CONTROL:
case NAV_CMD_IMAGE_START_CAPTURE:
case NAV_CMD_IMAGE_STOP_CAPTURE:
@@ -96,6 +98,7 @@ MissionBlock::is_mission_item_reached()
case NAV_CMD_DO_SET_ROI:
case NAV_CMD_ROI:
case NAV_CMD_DO_SET_CAM_TRIGG_DIST:
case NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL:
return true;
case NAV_CMD_DO_VTOL_TRANSITION:
@@ -445,6 +448,7 @@ MissionBlock::mission_item_to_vehicle_command(const struct mission_item_s *item,
void
MissionBlock::issue_command(const struct mission_item_s *item)
{
if (item_contains_position(item)) {
return;
}
src/modules/navigator/mission_feasibility_checker.cpp
+2
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@@ -280,6 +280,7 @@ MissionFeasibilityChecker::checkMissionItemValidity(dm_item_t dm_current, size_t
missionitem.nav_cmd != NAV_CMD_DO_CHANGE_SPEED &&
missionitem.nav_cmd != NAV_CMD_DO_SET_SERVO &&
missionitem.nav_cmd != NAV_CMD_DO_LAND_START &&
missionitem.nav_cmd != NAV_CMD_DO_TRIGGER_CONTROL &&
missionitem.nav_cmd != NAV_CMD_DO_DIGICAM_CONTROL &&
missionitem.nav_cmd != NAV_CMD_IMAGE_START_CAPTURE &&
missionitem.nav_cmd != NAV_CMD_IMAGE_STOP_CAPTURE &&
@@ -290,6 +291,7 @@ MissionFeasibilityChecker::checkMissionItemValidity(dm_item_t dm_current, size_t
missionitem.nav_cmd != NAV_CMD_DO_SET_ROI &&
missionitem.nav_cmd != NAV_CMD_ROI &&
missionitem.nav_cmd != NAV_CMD_DO_SET_CAM_TRIGG_DIST &&
missionitem.nav_cmd != NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL &&
missionitem.nav_cmd != NAV_CMD_DO_VTOL_TRANSITION) {
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: item %i: unsupported cmd: %d", (int)(i + 1),
src/modules/navigator/navigation.h
+2
View File
@@ -78,9 +78,11 @@ enum NAV_CMD {
NAV_CMD_DO_DIGICAM_CONTROL = 203,
NAV_CMD_DO_MOUNT_CONFIGURE = 204,
NAV_CMD_DO_MOUNT_CONTROL = 205,
NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL = 214,
NAV_CMD_DO_SET_CAM_TRIGG_DIST = 206,
NAV_CMD_IMAGE_START_CAPTURE = 2000,
NAV_CMD_IMAGE_STOP_CAPTURE = 2001,
NAV_CMD_DO_TRIGGER_CONTROL = 2003,
NAV_CMD_VIDEO_START_CAPTURE = 2500,
NAV_CMD_VIDEO_STOP_CAPTURE = 2501,
NAV_CMD_DO_VTOL_TRANSITION = 3000,