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Mission merge offboard + onboard and simplify

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This commit is contained in:
Daniel Agar
2018-01-14 12:53:53 +01:00
committed by Lorenz Meier
parent 956935141e
commit 916d6a15fd
14 changed files with 181 additions and 271 deletions
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src/modules/navigator/mission.h
+3 -11
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@@ -97,10 +97,6 @@ public:
uint16_t get_land_start_index() const { return _land_start_index; }
private:
/**
* Update onboard mission topic
*/
void update_onboard_mission();
/**
* Update offboard mission topic
@@ -175,8 +171,8 @@ private:
*
* @return true if current mission item available
*/
bool prepare_mission_items(bool onboard, struct mission_item_s *mission_item,
struct mission_item_s *next_position_mission_item, bool *has_next_position_item);
bool prepare_mission_items(mission_item_s *mission_item, mission_item_s *next_position_mission_item,
bool *has_next_position_item);
/**
* Read current (offset == 0) or a specific (offset > 0) mission item
@@ -184,7 +180,7 @@ private:
*
* @return true if successful
*/
bool read_mission_item(bool onboard, int offset, struct mission_item_s *mission_item);
bool read_mission_item(int offset, mission_item_s *mission_item);
/**
* Save current offboard mission state to dataman
@@ -232,16 +228,13 @@ private:
*/
bool find_offboard_land_start();
control::BlockParamInt _param_onboard_enabled;
control::BlockParamFloat _param_dist_1wp;
control::BlockParamFloat _param_dist_between_wps;
control::BlockParamInt _param_altmode;
control::BlockParamInt _param_yawmode;
struct mission_s _onboard_mission {};
struct mission_s _offboard_mission {};
int32_t _current_onboard_mission_index{-1};
int32_t _current_offboard_mission_index{-1};
// track location of planned mission landing
@@ -252,7 +245,6 @@ private:
enum {
MISSION_TYPE_NONE,
MISSION_TYPE_ONBOARD,
MISSION_TYPE_OFFBOARD
} _mission_type{MISSION_TYPE_NONE};