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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/rtl.cpp
+30 -34
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@@ -75,53 +75,49 @@ RTL::~RTL()
void
RTL::on_inactive()
{
_first_run = true;
/* reset RTL state only if setpoint moved */
if (!_navigator->get_can_loiter_at_sp()) {
_rtl_state = RTL_STATE_NONE;
}
}
void
RTL::on_activation(struct position_setpoint_triplet_s *pos_sp_triplet)
{
/* decide where to enter the RTL procedure when we switch into it */
if (_rtl_state == RTL_STATE_NONE) {
/* for safety reasons don't go into RTL if landed */
if (_navigator->get_vstatus()->condition_landed) {
_rtl_state = RTL_STATE_LANDED;
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no RTL when landed");
/* if lower than return altitude, climb up first */
} else if (_navigator->get_global_position()->alt < _navigator->get_home_position()->alt
+ _param_return_alt.get()) {
_rtl_state = RTL_STATE_CLIMB;
/* otherwise go straight to return */
} else {
/* set altitude setpoint to current altitude */
_rtl_state = RTL_STATE_RETURN;
_mission_item.altitude_is_relative = false;
_mission_item.altitude = _navigator->get_global_position()->alt;
}
}
set_rtl_item(pos_sp_triplet);
}
bool
RTL::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
{
bool updated = false;
if (_first_run) {
_first_run = false;
/* decide where to enter the RTL procedure when we switch into it */
if (_rtl_state == RTL_STATE_NONE) {
/* for safety reasons don't go into RTL if landed */
if (_navigator->get_vstatus()->condition_landed) {
_rtl_state = RTL_STATE_LANDED;
mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no RTL when landed");
/* if lower than return altitude, climb up first */
} else if (_navigator->get_global_position()->alt < _navigator->get_home_position()->alt
+ _param_return_alt.get()) {
_rtl_state = RTL_STATE_CLIMB;
/* otherwise go straight to return */
} else {
/* set altitude setpoint to current altitude */
_rtl_state = RTL_STATE_RETURN;
_mission_item.altitude_is_relative = false;
_mission_item.altitude = _navigator->get_global_position()->alt;
}
}
set_rtl_item(pos_sp_triplet);
updated = true;
} else if (_rtl_state != RTL_STATE_LANDED && is_mission_item_reached()) {
if (_rtl_state != RTL_STATE_LANDED && is_mission_item_reached()) {
advance_rtl();
set_rtl_item(pos_sp_triplet);
updated = true;
return true;
}
return updated;
return false;
}
void