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implement MAV_CMD_NAV_LOITER_TO_ALT and general mission cleanup

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This commit is contained in:
Daniel Agar
2016-07-12 23:36:05 +02:00
committed by Lorenz Meier
parent 7419151314
commit 59b4350aa0
8 changed files with 314 additions and 119 deletions
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src/modules/navigator/mission_feasibility_checker.cpp
+11 -8
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@@ -238,17 +238,18 @@ bool MissionFeasibilityChecker::checkMissionItemValidity(dm_item_t dm_current, s
if (missionitem.nav_cmd != NAV_CMD_IDLE &&
missionitem.nav_cmd != NAV_CMD_WAYPOINT &&
missionitem.nav_cmd != NAV_CMD_LOITER_UNLIMITED &&
/* not yet supported: missionitem.nav_cmd != NAV_CMD_LOITER_TURN_COUNT && */
missionitem.nav_cmd != NAV_CMD_LOITER_TIME_LIMIT &&
missionitem.nav_cmd != NAV_CMD_LAND &&
missionitem.nav_cmd != NAV_CMD_TAKEOFF &&
missionitem.nav_cmd != NAV_CMD_VTOL_LAND &&
missionitem.nav_cmd != NAV_CMD_LOITER_TO_ALT &&
missionitem.nav_cmd != NAV_CMD_VTOL_TAKEOFF &&
missionitem.nav_cmd != NAV_CMD_PATHPLANNING &&
missionitem.nav_cmd != NAV_CMD_VTOL_LAND &&
missionitem.nav_cmd != NAV_CMD_DO_JUMP &&
missionitem.nav_cmd != NAV_CMD_DO_SET_SERVO &&
missionitem.nav_cmd != NAV_CMD_DO_CHANGE_SPEED &&
missionitem.nav_cmd != NAV_CMD_DO_DIGICAM_CONTROL &&
missionitem.nav_cmd != NAV_CMD_DO_MOUNT_CONFIGURE &&
missionitem.nav_cmd != NAV_CMD_DO_MOUNT_CONTROL &&
missionitem.nav_cmd != NAV_CMD_DO_SET_CAM_TRIGG_DIST &&
missionitem.nav_cmd != NAV_CMD_DO_VTOL_TRANSITION) {
@@ -407,13 +408,15 @@ MissionFeasibilityChecker::check_dist_1wp(dm_item_t dm_current, size_t nMissionI
bool
MissionFeasibilityChecker::isPositionCommand(unsigned cmd){
if( cmd == NAV_CMD_WAYPOINT ||
cmd == NAV_CMD_LOITER_TIME_LIMIT ||
cmd == NAV_CMD_LOITER_TURN_COUNT ||
if (cmd == NAV_CMD_WAYPOINT ||
cmd == NAV_CMD_LOITER_UNLIMITED ||
cmd == NAV_CMD_TAKEOFF ||
cmd == NAV_CMD_LOITER_TIME_LIMIT ||
cmd == NAV_CMD_LAND ||
cmd == NAV_CMD_PATHPLANNING) {
cmd == NAV_CMD_TAKEOFF ||
cmd == NAV_CMD_LOITER_TO_ALT ||
cmd == NAV_CMD_VTOL_TAKEOFF ||
cmd == NAV_CMD_VTOL_LAND) {
return true;
} else {
return false;