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navigator: NavigatorMode and MissionBlock API cleanup

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This commit is contained in:
Anton Babushkin
2014-06-28 00:54:27 +02:00
parent affc312411
commit 456e628e12
11 changed files with 148 additions and 133 deletions
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src/modules/navigator/mission.cpp
+10 -4
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@@ -82,8 +82,6 @@ Mission::~Mission()
void
Mission::on_inactive()
{
_first_run = true;
/* check anyway if missions have changed so that feedback to groundstation is given */
bool onboard_updated;
orb_check(_navigator->get_onboard_mission_sub(), &onboard_updated);
@@ -98,6 +96,12 @@ Mission::on_inactive()
}
}
void
Mission::on_activation(struct position_setpoint_triplet_s *pos_sp_triplet)
{
set_mission_items(pos_sp_triplet);
}
bool
Mission::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
{
@@ -117,10 +121,9 @@ Mission::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
}
/* reset mission items if needed */
if (onboard_updated || offboard_updated || _first_run) {
if (onboard_updated || offboard_updated) {
set_mission_items(pos_sp_triplet);
updated = true;
_first_run = false;
}
/* lets check if we reached the current mission item */
@@ -255,6 +258,9 @@ Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet)
_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.valid && _waypoint_position_reached);
set_loiter_item(pos_sp_triplet);
pos_sp_triplet->previous.valid = false;
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->next.valid = false;
reset_mission_item_reached();
report_mission_finished();
}