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Merge remote-tracking branch 'upstream/master' into takeoff_fix

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Conflicts:
	src/modules/navigator/mission.cpp
This commit is contained in:
Thomas Gubler
2014-10-05 10:55:12 +02:00
parent 70e5d4027a 63b7fac10c
commit 3cebfd4045
40 changed files with 2492 additions and 196 deletions
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src/modules/navigator/mission.cpp
+14 -30
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@@ -62,18 +62,16 @@
Mission::Mission(Navigator *navigator, const char *name) :
MissionBlock(navigator, name),
_param_onboard_enabled(this, "ONBOARD_EN"),
_param_takeoff_alt(this, "TAKEOFF_ALT"),
_param_dist_1wp(this, "DIST_1WP"),
_param_altmode(this, "ALTMODE"),
_param_onboard_enabled(this, "MIS_ONBOARD_EN", false),
_param_takeoff_alt(this, "MIS_TAKEOFF_ALT", false),
_param_dist_1wp(this, "MIS_DIST_1WP", false),
_param_altmode(this, "MIS_ALTMODE", false),
_onboard_mission({0}),
_offboard_mission({0}),
_current_onboard_mission_index(-1),
_current_offboard_mission_index(-1),
_need_takeoff(true),
_takeoff(false),
_mission_result_pub(-1),
_mission_result({0}),
_mission_type(MISSION_TYPE_NONE),
_inited(false),
_dist_1wp_ok(false),
@@ -158,7 +156,7 @@ Mission::on_active()
} else {
/* else just report that item reached */
if (_mission_type == MISSION_TYPE_OFFBOARD) {
if (!(_mission_result.seq_reached == _current_offboard_mission_index && _mission_result.reached)) {
if (!(_navigator->get_mission_result()->seq_reached == _current_offboard_mission_index && _navigator->get_mission_result()->reached)) {
report_mission_item_reached();
}
}
@@ -705,19 +703,19 @@ Mission::save_offboard_mission_state()
void
Mission::report_mission_item_reached()
{
_mission_result.reached = true;
_mission_result.seq_reached = _current_offboard_mission_index;
publish_mission_result();
_navigator->get_mission_result()->reached = true;
_navigator->get_mission_result()->seq_reached = _current_offboard_mission_index;
_navigator->publish_mission_result();
}
void
Mission::report_current_offboard_mission_item()
{
warnx("current offboard mission index: %d", _current_offboard_mission_index);
_mission_result.reached = false;
_mission_result.finished = false;
_mission_result.seq_current = _current_offboard_mission_index;
publish_mission_result();
_navigator->get_mission_result()->reached = false;
_navigator->get_mission_result()->finished = false;
_navigator->get_mission_result()->seq_current = _current_offboard_mission_index;
_navigator->publish_mission_result();
save_offboard_mission_state();
}
@@ -725,20 +723,6 @@ Mission::report_current_offboard_mission_item()
void
Mission::report_mission_finished()
{
_mission_result.finished = true;
publish_mission_result();
}
void
Mission::publish_mission_result()
{
/* lazily publish the mission result only once available */
if (_mission_result_pub > 0) {
/* publish mission result */
orb_publish(ORB_ID(mission_result), _mission_result_pub, &_mission_result);
} else {
/* advertise and publish */
_mission_result_pub = orb_advertise(ORB_ID(mission_result), &_mission_result);
}
_navigator->get_mission_result()->finished = true;
_navigator->publish_mission_result();
}