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dataman: use DM_KEY_WAYPOINTS_OFFBOARD() macro everywhere

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This commit is contained in:
Anton Babushkin
2014-07-10 14:08:09 +02:00
parent a29f7cad39
commit 9b2d444cc5
2 changed files with 7 additions and 20 deletions
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src/modules/mavlink/mavlink_mission.cpp
+2 -2
View File
@@ -216,7 +216,7 @@ MavlinkMissionManager::send_mission_count(uint8_t sysid, uint8_t compid, uint16_
void
MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t seq)
{
dm_item_t dm_item = _dataman_id == 0 ? DM_KEY_WAYPOINTS_OFFBOARD_0 : DM_KEY_WAYPOINTS_OFFBOARD_1;
dm_item_t dm_item = DM_KEY_WAYPOINTS_OFFBOARD(_dataman_id);
struct mission_item_s mission_item;
if (dm_read(dm_item, seq, &mission_item, sizeof(struct mission_item_s)) == sizeof(struct mission_item_s)) {
@@ -650,7 +650,7 @@ MavlinkMissionManager::handle_mission_item(const mavlink_message_t *msg)
return;
}
dm_item_t dm_item = _transfer_dataman_id == 0 ? DM_KEY_WAYPOINTS_OFFBOARD_0 : DM_KEY_WAYPOINTS_OFFBOARD_1;
dm_item_t dm_item = DM_KEY_WAYPOINTS_OFFBOARD(_transfer_dataman_id);
if (dm_write(dm_item, wp.seq, DM_PERSIST_POWER_ON_RESET, &mission_item, sizeof(struct mission_item_s)) != sizeof(struct mission_item_s)) {
if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: error writing seq %u to dataman ID %i", wp.seq, _transfer_dataman_id); }
src/modules/navigator/mission.cpp
+5 -18
View File
@@ -201,19 +201,11 @@ Mission::update_offboard_mission()
/* Check mission feasibility, for now do not handle the return value,
* however warnings are issued to the gcs via mavlink from inside the MissionFeasiblityChecker */
dm_item_t dm_current;
dm_item_t dm_current = DM_KEY_WAYPOINTS_OFFBOARD(_transfer_dataman_id);
if (_offboard_mission.dataman_id == 0) {
dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0;
} else {
dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1;
}
missionFeasiblityChecker.checkMissionFeasible(_navigator->get_vstatus()->is_rotary_wing, dm_current,
(size_t)_offboard_mission.count,
_navigator->get_geofence(),
_navigator->get_home_position()->alt);
missionFeasiblityChecker.checkMissionFeasible(_navigator->get_vstatus()->is_rotary_wing,
dm_current, (size_t) _offboard_mission.count, _navigator->get_geofence(),
_navigator->get_home_position()->alt);
} else {
warnx("offboard mission update failed");
@@ -474,12 +466,7 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s
mission = &_offboard_mission;
if (_offboard_mission.dataman_id == 0) {
dm_item = DM_KEY_WAYPOINTS_OFFBOARD_0;
} else {
dm_item = DM_KEY_WAYPOINTS_OFFBOARD_1;
}
dm_item = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id);
}
if (*mission_index_ptr < 0 || *mission_index_ptr >= (int)mission->count) {