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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;
}