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navigator move parameters out of MissionBlock

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- MissionBlock is an interface with > 10 implementations
This commit is contained in:
Daniel Agar
2017-10-26 22:43:53 +02:00
committed by Lorenz Meier
parent 8e457b6037
commit 4416c4ddb3
26 changed files with 291 additions and 352 deletions
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src/modules/navigator/mission.cpp
+2 -6
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@@ -66,7 +66,6 @@ Mission::Mission(Navigator *navigator, const char *name) :
_param_dist_between_wps(this, "MIS_DIST_WPS", false),
_param_altmode(this, "MIS_ALTMODE", false),
_param_yawmode(this, "MIS_YAWMODE", false),
_param_force_vtol(this, "NAV_FORCE_VT", false),
_param_fw_climbout_diff(this, "FW_CLMBOUT_DIFF", false),
_missionFeasibilityChecker(navigator)
{
@@ -545,9 +544,7 @@ Mission::set_mission_items()
if (item_contains_position(_mission_item)) {
/* force vtol land */
if (_mission_item.nav_cmd == NAV_CMD_LAND && _param_force_vtol.get() == 1
&& !_navigator->get_vstatus()->is_rotary_wing
&& _navigator->get_vstatus()->is_vtol) {
if (_navigator->force_vtol() && _mission_item.nav_cmd == NAV_CMD_LAND) {
_mission_item.nav_cmd = NAV_CMD_VTOL_LAND;
}
@@ -732,7 +729,6 @@ Mission::set_mission_items()
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
_mission_item.autocontinue = true;
_mission_item.time_inside = 0.0f;
_mission_item.disable_mc_yaw = true;
}
/* we just moved to the landing waypoint, now descend */
@@ -1176,7 +1172,7 @@ Mission::do_abort_landing()
// or 2 * FW_CLMBOUT_DIFF above the current altitude
float alt_landing = get_absolute_altitude_for_item(_mission_item);
float min_climbout = _navigator->get_global_position()->alt + (2 * _param_fw_climbout_diff.get());
float alt_sp = math::max(alt_landing + _param_loiter_min_alt.get(), min_climbout);
float alt_sp = math::max(alt_landing + _navigator->get_loiter_min_alt(), min_climbout);
// turn current landing waypoint into an indefinite loiter
_mission_item.nav_cmd = NAV_CMD_LOITER_UNLIMITED;