From 4171e891372859904e0bce9fc299cf9d487c6488 Mon Sep 17 00:00:00 2001 From: sander Date: Thu, 24 Mar 2016 12:03:55 +0100 Subject: [PATCH] Code style and commenting --- src/modules/navigator/mission.cpp | 61 +++++++++++++++++-------------- 1 file changed, 33 insertions(+), 28 deletions(-) diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index 8b8e7878a5..abcd55dae0 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -476,7 +476,7 @@ Mission::set_mission_items() && _navigator->get_vstatus()->is_rotary_wing && !_navigator->get_vstatus()->condition_landed && has_next_position_item) { - + /* check if the vtol_takeoff command is on top of us */ if(do_need_move_to_takeoff()){ new_work_item_type = WORK_ITEM_TYPE_TRANSITON_AFTER_TAKEOFF; } else { @@ -496,6 +496,7 @@ Mission::set_mission_items() } + /* takeoff completed and transitioned, move to takeoff wp as fixed wing */ if (_mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF && _work_item_type == WORK_ITEM_TYPE_TRANSITON_AFTER_TAKEOFF) { @@ -505,37 +506,41 @@ Mission::set_mission_items() _mission_item.time_inside = 0.0f; } - if (_mission_item.nav_cmd == NAV_CMD_VTOL_LAND - && _work_item_type == WORK_ITEM_TYPE_DEFAULT - && !_navigator->get_vstatus()->condition_landed) { - new_work_item_type = WORK_ITEM_TYPE_MOVE_TO_LAND; - /* use current mission item as next position item */ - memcpy(&mission_item_next_position, &_mission_item, sizeof(struct mission_item_s)); - has_next_position_item = true; - float altitude = _navigator->get_global_position()->alt; - if (pos_sp_triplet->current.valid) { - altitude = pos_sp_triplet->current.alt; - } - - _mission_item.altitude = altitude; - _mission_item.altitude_is_relative = false; - _mission_item.nav_cmd = NAV_CMD_WAYPOINT; - _mission_item.autocontinue = true; - _mission_item.time_inside = 0; + /* move to land wp as fixed wing */ + if (_mission_item.nav_cmd == NAV_CMD_VTOL_LAND + && _work_item_type == WORK_ITEM_TYPE_DEFAULT + && !_navigator->get_vstatus()->condition_landed) { + new_work_item_type = WORK_ITEM_TYPE_MOVE_TO_LAND; + /* use current mission item as next position item */ + memcpy(&mission_item_next_position, &_mission_item, sizeof(struct mission_item_s)); + has_next_position_item = true; + float altitude = _navigator->get_global_position()->alt; + if (pos_sp_triplet->current.valid) { + altitude = pos_sp_triplet->current.alt; } - if (_mission_item.nav_cmd == NAV_CMD_VTOL_LAND - && _work_item_type == WORK_ITEM_TYPE_MOVE_TO_LAND - && !_navigator->get_vstatus()->is_rotary_wing - && !_navigator->get_vstatus()->condition_landed) { - _mission_item.nav_cmd = NAV_CMD_DO_VTOL_TRANSITION; - _mission_item.params[0] = vehicle_status_s::VEHICLE_VTOL_STATE_MC; - _mission_item.autocontinue = true; - new_work_item_type = WORK_ITEM_TYPE_MOVE_TO_LAND_AFTER_TRANSITION; - } + _mission_item.altitude = altitude; + _mission_item.altitude_is_relative = false; + _mission_item.nav_cmd = NAV_CMD_WAYPOINT; + _mission_item.autocontinue = true; + _mission_item.time_inside = 0; + } + + /* transition to MC */ + if (_mission_item.nav_cmd == NAV_CMD_VTOL_LAND + && _work_item_type == WORK_ITEM_TYPE_MOVE_TO_LAND + && !_navigator->get_vstatus()->is_rotary_wing + && !_navigator->get_vstatus()->condition_landed) { + _mission_item.nav_cmd = NAV_CMD_DO_VTOL_TRANSITION; + _mission_item.params[0] = vehicle_status_s::VEHICLE_VTOL_STATE_MC; + _mission_item.autocontinue = true; + new_work_item_type = WORK_ITEM_TYPE_MOVE_TO_LAND_AFTER_TRANSITION; + } /* move to landing waypoint before descent if necessary */ - if (do_need_move_to_land() && (_work_item_type == WORK_ITEM_TYPE_DEFAULT || _work_item_type == WORK_ITEM_TYPE_MOVE_TO_LAND_AFTER_TRANSITION)) { + if (do_need_move_to_land() && + (_work_item_type == WORK_ITEM_TYPE_DEFAULT || + _work_item_type == WORK_ITEM_TYPE_MOVE_TO_LAND_AFTER_TRANSITION)) { new_work_item_type = WORK_ITEM_TYPE_MOVE_TO_LAND; /* use current mission item as next position item */