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dataman: extend for double storage geofence and safe points

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This commit is contained in:
Konrad
2024-01-30 11:25:37 -05:00
committed by Daniel Agar
parent dfa56d474a
commit 50f1abaef1
8 changed files with 79 additions and 60 deletions
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src/modules/navigator/rtl.cpp
+7 -7
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@@ -79,7 +79,7 @@ void RTL::updateDatamanCache()
case DatamanState::Read:
_dataman_state = DatamanState::ReadWait;
success = _dataman_client_safepoint.readAsync(DM_KEY_SAFE_POINTS, 0, reinterpret_cast<uint8_t *>(&_stats),
success = _dataman_client_safepoint.readAsync(DM_KEY_SAFE_POINTS_STATE, 0, reinterpret_cast<uint8_t *>(&_stats),
sizeof(mission_stats_entry_s));
if (!success) {
@@ -110,8 +110,8 @@ void RTL::updateDatamanCache()
_dataman_cache_safepoint.resize(_stats.num_items);
}
for (int index = 1; index <= _dataman_cache_safepoint.size(); ++index) {
_dataman_cache_safepoint.load(DM_KEY_SAFE_POINTS, index);
for (int index = 0; index < _dataman_cache_safepoint.size(); ++index) {
_dataman_cache_safepoint.load(DM_KEY_SAFE_POINTS_0, index);
}
_dataman_state = DatamanState::Load;
@@ -394,10 +394,10 @@ void RTL::findRtlDestination(DestinationType &destination_type, DestinationPosit
if (_safe_points_updated) {
for (int current_seq = 1; current_seq <= _dataman_cache_safepoint.size(); ++current_seq) {
for (int current_seq = 0; current_seq < _dataman_cache_safepoint.size(); ++current_seq) {
mission_item_s mission_safe_point;
bool success = _dataman_cache_safepoint.loadWait(DM_KEY_SAFE_POINTS, current_seq,
bool success = _dataman_cache_safepoint.loadWait(DM_KEY_SAFE_POINTS_0, current_seq,
reinterpret_cast<uint8_t *>(&mission_safe_point),
sizeof(mission_item_s), 500_ms);
@@ -626,10 +626,10 @@ land_approaches_s RTL::readVtolLandApproaches(DestinationPosition rtl_position)
bool foundHomeLandApproaches = false;
uint8_t sector_counter = 0;
for (int current_seq = 1; current_seq <= _stats.num_items; ++current_seq) {
for (int current_seq = 0; current_seq < _stats.num_items; ++current_seq) {
mission_item_s mission_item{};
bool success_mission_item = _dataman_cache_safepoint.loadWait(DM_KEY_SAFE_POINTS, current_seq,
bool success_mission_item = _dataman_cache_safepoint.loadWait(DM_KEY_SAFE_POINTS_0, current_seq,
reinterpret_cast<uint8_t *>(&mission_item),
sizeof(mission_item_s));