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mavlink-mission: Add support for opaque ids and replace update counter with it

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This commit is contained in:
Konrad
2023-10-16 20:54:49 +02:00
committed by Daniel Agar
parent 120e7fea8b
commit 36f0c0f0bf
17 changed files with 194 additions and 101 deletions
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src/modules/commander/Commander.cpp
+3 -3
View File
@@ -1935,19 +1935,19 @@ void Commander::checkForMissionUpdate()
if (_mission_result_sub.updated()) {
const mission_result_s &mission_result = _mission_result_sub.get();
const auto prev_mission_mission_update_counter = mission_result.mission_update_counter;
const auto prev_mission_mission_id = mission_result.mission_id;
_mission_result_sub.update();
// if mission_result is valid for the current mission
const bool mission_result_ok = (mission_result.timestamp > _boot_timestamp)
&& (mission_result.mission_update_counter > 0);
&& (mission_result.mission_id > 0);
bool auto_mission_available = mission_result_ok && mission_result.valid;
if (mission_result_ok) {
/* Only evaluate mission state if home is set */
if (!_failsafe_flags.home_position_invalid &&
(prev_mission_mission_update_counter != mission_result.mission_update_counter)) {
(prev_mission_mission_id != mission_result.mission_id)) {
if (!auto_mission_available) {
/* the mission is invalid */
src/modules/commander/HealthAndArmingChecks/checks/missionCheck.cpp
+1 -1
View File
@@ -56,6 +56,6 @@ void MissionChecks::checkAndReport(const Context &context, Report &reporter)
}
// This is a mode requirement, no need to report
reporter.failsafeFlags().auto_mission_missing = mission_result.mission_update_counter <= 0;
reporter.failsafeFlags().auto_mission_missing = mission_result.mission_id <= 0;
}
}