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Merge remote-tracking branch 'upstream/beta' into beta

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This commit is contained in:
Thomas Gubler
2014-02-01 11:59:56 +01:00
parent 589f6cdb44 8897894b19
commit 7bb3197871
9 changed files with 133 additions and 75 deletions
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src/modules/navigator/navigator_main.cpp
+3 -2
View File
@@ -689,7 +689,7 @@ Navigator::task_main()
if (_vstatus.return_switch == RETURN_SWITCH_RETURN) {
/* switch to RTL if not already landed after RTL and home position set */
if (!(_rtl_state == RTL_STATE_DESCEND && (myState == NAV_STATE_READY || myState == NAV_STATE_LAND)) &&
_vstatus.condition_home_position_valid) {
_vstatus.condition_home_position_valid) {
dispatch(EVENT_RTL_REQUESTED);
}
@@ -747,7 +747,7 @@ Navigator::task_main()
case NAV_STATE_RTL:
if (!(_rtl_state == RTL_STATE_DESCEND && (myState == NAV_STATE_READY || myState == NAV_STATE_LAND)) &&
_vstatus.condition_home_position_valid) {
_vstatus.condition_home_position_valid) {
dispatch(EVENT_RTL_REQUESTED);
}
@@ -1575,6 +1575,7 @@ Navigator::on_mission_item_reached()
if (_rtl_state == RTL_STATE_DESCEND) {
/* hovering above home position, land if needed or loiter */
mavlink_log_info(_mavlink_fd, "[navigator] RTL completed");
if (_mission_item.autocontinue) {
dispatch(EVENT_LAND_REQUESTED);
src/modules/navigator/navigator_mission.cpp
+28 -16
View File
@@ -52,8 +52,8 @@
static const int ERROR = -1;
Mission::Mission() :
Mission::Mission() :
_offboard_dataman_id(-1),
_current_offboard_mission_index(0),
_current_onboard_mission_index(0),
@@ -65,7 +65,7 @@ Mission::Mission() :
Mission::~Mission()
{
}
void
@@ -126,33 +126,39 @@ Mission::get_current_mission_item(struct mission_item_s *new_mission_item, bool
{
/* try onboard mission first */
if (current_onboard_mission_available()) {
const ssize_t len = sizeof(struct mission_item_s);
if (dm_read(DM_KEY_WAYPOINTS_ONBOARD, _current_onboard_mission_index, new_mission_item, len) != len) {
/* not supposed to happen unless the datamanager can't access the SD card, etc. */
return ERROR;
}
_current_mission_type = MISSION_TYPE_ONBOARD;
*onboard = true;
*index = _current_onboard_mission_index;
/* otherwise fallback to offboard */
/* otherwise fallback to offboard */
} else if (current_offboard_mission_available()) {
dm_item_t dm_current;
if (_offboard_dataman_id == 0) {
dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0;
} else {
dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1;
}
const ssize_t len = sizeof(struct mission_item_s);
if (dm_read(dm_current, _current_offboard_mission_index, new_mission_item, len) != len) {
/* not supposed to happen unless the datamanager can't access the SD card, etc. */
_current_mission_type = MISSION_TYPE_NONE;
return ERROR;
}
_current_mission_type = MISSION_TYPE_OFFBOARD;
*onboard = false;
*index = _current_offboard_mission_index;
@@ -171,25 +177,29 @@ Mission::get_next_mission_item(struct mission_item_s *new_mission_item)
{
/* try onboard mission first */
if (next_onboard_mission_available()) {
const ssize_t len = sizeof(struct mission_item_s);
if (dm_read(DM_KEY_WAYPOINTS_ONBOARD, _current_onboard_mission_index + 1, new_mission_item, len) != len) {
/* not supposed to happen unless the datamanager can't access the SD card, etc. */
return ERROR;
}
/* otherwise fallback to offboard */
/* otherwise fallback to offboard */
} else if (next_offboard_mission_available()) {
dm_item_t dm_current;
if (_offboard_dataman_id == 0) {
dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0;
} else {
dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1;
}
const ssize_t len = sizeof(struct mission_item_s);
if (dm_read(dm_current, _current_offboard_mission_index + 1, new_mission_item, len) != len) {
/* not supposed to happen unless the datamanager can't access the SD card, etc. */
return ERROR;
@@ -244,14 +254,16 @@ void
Mission::move_to_next()
{
switch (_current_mission_type) {
case MISSION_TYPE_ONBOARD:
_current_onboard_mission_index++;
break;
case MISSION_TYPE_OFFBOARD:
_current_offboard_mission_index++;
break;
case MISSION_TYPE_NONE:
default:
break;
case MISSION_TYPE_ONBOARD:
_current_onboard_mission_index++;
break;
case MISSION_TYPE_OFFBOARD:
_current_offboard_mission_index++;
break;
case MISSION_TYPE_NONE:
default:
break;
}
}