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

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Konrad
2023-11-29 11:10:40 -05:00
committed by Daniel Agar
parent 120e7fea8b
commit 36f0c0f0bf
17 changed files with 194 additions and 101 deletions
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src/modules/navigator/navigator_main.cpp
+6 -6
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@@ -171,8 +171,8 @@ void Navigator::run()
fds[2].fd = _mission_sub;
fds[2].events = POLLIN;
uint16_t geofence_update_counter{0};
uint16_t safe_points_update_counter{0};
uint32_t geofence_id{0};
uint32_t safe_points_id{0};
/* rate-limit position subscription to 20 Hz / 50 ms */
orb_set_interval(_local_pos_sub, 50);
@@ -201,13 +201,13 @@ void Navigator::run()
mission_s mission;
orb_copy(ORB_ID(mission), _mission_sub, &mission);
if (mission.geofence_update_counter != geofence_update_counter) {
geofence_update_counter = mission.geofence_update_counter;
if (mission.geofence_id != geofence_id) {
geofence_id = mission.geofence_id;
_geofence.updateFence();
}
if (mission.safe_points_update_counter != safe_points_update_counter) {
safe_points_update_counter = mission.safe_points_update_counter;
if (mission.safe_points_id != safe_points_id) {
safe_points_id = mission.safe_points_id;
_rtl.updateSafePoints();
}
}