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navigator: move set_previous_pos_sp to MissionBlock class

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This commit is contained in:
Anton Babushkin
2014-06-25 17:31:12 +02:00
parent e0c78e51e3
commit 9d3d5a30af
4 changed files with 15 additions and 17 deletions
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src/modules/navigator/mission.cpp
+1 -11
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@@ -223,7 +223,7 @@ Mission::advance_mission()
void
Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet)
{
set_previous_pos_setpoint(&pos_sp_triplet->current, &pos_sp_triplet->previous);
set_previous_pos_setpoint(pos_sp_triplet);
/* try setting onboard mission item */
if (is_current_onboard_mission_item_set(&pos_sp_triplet->current)) {
@@ -261,16 +261,6 @@ Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet)
}
}
void
Mission::set_previous_pos_setpoint(const struct position_setpoint_s *current_pos_sp,
struct position_setpoint_s *previous_pos_sp)
{
/* reuse current setpoint as previous setpoint */
if (current_pos_sp->valid) {
memcpy(previous_pos_sp, current_pos_sp, sizeof(struct position_setpoint_s));
}
}
bool
Mission::is_current_onboard_mission_item_set(struct position_setpoint_s *current_pos_sp)
{