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mavlink: mission manager moved to separate class and reworked

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This commit is contained in:
Anton Babushkin
2014-06-14 23:57:29 +02:00
parent ffd9ac7e08
commit 5be741607c
14 changed files with 1167 additions and 1016 deletions
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src/modules/uORB/topics/mission.h
+5 -1
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@@ -97,11 +97,15 @@ struct mission_item_s {
unsigned do_jump_current_count; /**< count how many times the jump has been done */
};
/**
* This topic used to notify navigator about mission changes, mission itself and new mission state
* must be stored in dataman before publication.
*/
struct mission_s
{
int dataman_id; /**< default 0, there are two offboard storage places in the dataman: 0 or 1 */
unsigned count; /**< count of the missions stored in the dataman */
int current_index; /**< default -1, start at the one changed latest */
int current_seq; /**< default -1, start at the one changed latest */
};
/**
src/modules/uORB/topics/mission_result.h
+4 -4
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@@ -53,10 +53,10 @@
struct mission_result_s
{
bool mission_reached; /**< true if mission has been reached */
unsigned mission_index_reached; /**< index of the mission which has been reached */
unsigned index_current_mission; /**< index of the current mission */
bool mission_finished; /**< true if mission has been completed */
unsigned seq_reached; /**< Sequence of the mission item which has been reached */
unsigned seq_current; /**< Sequence of the current mission item */
bool reached; /**< true if mission has been reached */
bool finished; /**< true if mission has been completed */
};
/**