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fix MISSION_ITEM REACHED message broadcast (#8332)

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This commit is contained in:
lamping7
2017-12-10 02:30:58 -05:00
committed by Daniel Agar
parent bc9a8e4432
commit 63718bf27b
9 changed files with 106 additions and 120 deletions
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src/modules/navigator/land.cpp
-1
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@@ -74,7 +74,6 @@ Land::on_activation()
{
/* set current mission item to Land */
set_land_item(&_mission_item, true);
_navigator->get_mission_result()->reached = false;
_navigator->get_mission_result()->finished = false;
_navigator->set_mission_result_updated();
reset_mission_item_reached();
src/modules/navigator/mission.cpp
+7 -8
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@@ -139,6 +139,9 @@ Mission::on_inactive()
/* reset so current mission item gets restarted if mission was paused */
_work_item_type = WORK_ITEM_TYPE_DEFAULT;
/* reset so MISSION_ITEM_REACHED isn't published */
_navigator->get_mission_result()->seq_reached = -1;
}
void
@@ -329,9 +332,8 @@ Mission::update_onboard_mission()
/* reset mission failure if we have an updated valid mission */
_navigator->get_mission_result()->failure = false;
/* reset reached info as well */
_navigator->get_mission_result()->reached = false;
_navigator->get_mission_result()->seq_reached = 0;
/* reset sequence info as well */
_navigator->get_mission_result()->seq_reached = -1;
_navigator->get_mission_result()->seq_total = _onboard_mission.count;
/* reset work item if new mission has been accepted */
@@ -384,9 +386,8 @@ Mission::update_offboard_mission()
/* reset mission failure if we have an updated valid mission */
_navigator->get_mission_result()->failure = false;
/* reset reached info as well */
_navigator->get_mission_result()->reached = false;
_navigator->get_mission_result()->seq_reached = 0;
/* reset sequence info as well */
_navigator->get_mission_result()->seq_reached = -1;
_navigator->get_mission_result()->seq_total = _offboard_mission.count;
/* reset work item if new mission has been accepted */
@@ -1406,7 +1407,6 @@ Mission::report_do_jump_mission_changed(int index, int do_jumps_remaining)
void
Mission::set_mission_item_reached()
{
_navigator->get_mission_result()->reached = true;
_navigator->get_mission_result()->seq_reached = _current_offboard_mission_index;
_navigator->set_mission_result_updated();
reset_mission_item_reached();
@@ -1415,7 +1415,6 @@ Mission::set_mission_item_reached()
void
Mission::set_current_offboard_mission_item()
{
_navigator->get_mission_result()->reached = false;
_navigator->get_mission_result()->finished = false;
_navigator->get_mission_result()->seq_current = _current_offboard_mission_index;
_navigator->set_mission_result_updated();
src/modules/navigator/navigator_main.cpp
-1
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@@ -1131,7 +1131,6 @@ Navigator::publish_mission_result()
//_mission_result.seq_current = 0;
/* reset some of the flags */
_mission_result.reached = false;
_mission_result.item_do_jump_changed = false;
_mission_result.item_changed_index = 0;
_mission_result.item_do_jump_remaining = 0;
src/modules/navigator/takeoff.cpp
-1
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@@ -142,7 +142,6 @@ Takeoff::set_takeoff_position()
// set current mission item to takeoff
set_takeoff_item(&_mission_item, abs_altitude);
_navigator->get_mission_result()->reached = false;
_navigator->get_mission_result()->finished = false;
_navigator->set_mission_result_updated();
reset_mission_item_reached();