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mission_feasibility_checker: takeoff: fix init of mission item

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TSC21 2019-02-22 23:12:13 +00:00 committed by Julian Oes
parent 8bf9ec32dc
commit 9fa7f341e4
1 changed files with 66 additions and 46 deletions
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112
src/modules/navigator/mission_feasibility_checker.cpp
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@ -149,31 +149,41 @@ MissionFeasibilityChecker::checkRotarywing(const mission_s &mission, float home_
// one of the bellow mission items
for (size_t i = 0; i < (size_t)takeoff_index; i++) {
struct mission_item_s missionitem = {};
const ssize_t len = sizeof(struct mission_item_s);
if (missionitem.nav_cmd == NAV_CMD_IDLE ||
missionitem.nav_cmd == NAV_CMD_DELAY ||
missionitem.nav_cmd == NAV_CMD_DO_JUMP ||
missionitem.nav_cmd == NAV_CMD_DO_CHANGE_SPEED ||
missionitem.nav_cmd == NAV_CMD_DO_SET_HOME ||
missionitem.nav_cmd == NAV_CMD_DO_SET_SERVO ||
missionitem.nav_cmd == NAV_CMD_DO_LAND_START ||
missionitem.nav_cmd == NAV_CMD_DO_TRIGGER_CONTROL ||
missionitem.nav_cmd == NAV_CMD_DO_DIGICAM_CONTROL ||
missionitem.nav_cmd == NAV_CMD_IMAGE_START_CAPTURE ||
missionitem.nav_cmd == NAV_CMD_IMAGE_STOP_CAPTURE ||
missionitem.nav_cmd == NAV_CMD_VIDEO_START_CAPTURE ||
missionitem.nav_cmd == NAV_CMD_VIDEO_STOP_CAPTURE ||
missionitem.nav_cmd == NAV_CMD_DO_MOUNT_CONFIGURE ||
missionitem.nav_cmd == NAV_CMD_DO_MOUNT_CONTROL ||
missionitem.nav_cmd == NAV_CMD_DO_SET_ROI ||
missionitem.nav_cmd == NAV_CMD_DO_SET_ROI_LOCATION ||
missionitem.nav_cmd == NAV_CMD_DO_SET_ROI_WPNEXT_OFFSET ||
missionitem.nav_cmd == NAV_CMD_DO_SET_ROI_NONE ||
missionitem.nav_cmd == NAV_CMD_DO_SET_CAM_TRIGG_DIST ||
missionitem.nav_cmd == NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL ||
missionitem.nav_cmd == NAV_CMD_SET_CAMERA_MODE ||
missionitem.nav_cmd == NAV_CMD_DO_VTOL_TRANSITION) {
if (dm_read((dm_item_t)mission.dataman_id, i, &missionitem, len) != len) {
/* not supposed to happen unless the datamanager can't access the SD card, etc. */
return false;
}
if (missionitem.nav_cmd != NAV_CMD_IDLE &&
missionitem.nav_cmd != NAV_CMD_DELAY &&
missionitem.nav_cmd != NAV_CMD_DO_JUMP &&
missionitem.nav_cmd != NAV_CMD_DO_CHANGE_SPEED &&
missionitem.nav_cmd != NAV_CMD_DO_SET_HOME &&
missionitem.nav_cmd != NAV_CMD_DO_SET_SERVO &&
missionitem.nav_cmd != NAV_CMD_DO_LAND_START &&
missionitem.nav_cmd != NAV_CMD_DO_TRIGGER_CONTROL &&
missionitem.nav_cmd != NAV_CMD_DO_DIGICAM_CONTROL &&
missionitem.nav_cmd != NAV_CMD_IMAGE_START_CAPTURE &&
missionitem.nav_cmd != NAV_CMD_IMAGE_STOP_CAPTURE &&
missionitem.nav_cmd != NAV_CMD_VIDEO_START_CAPTURE &&
missionitem.nav_cmd != NAV_CMD_VIDEO_STOP_CAPTURE &&
missionitem.nav_cmd != NAV_CMD_DO_MOUNT_CONFIGURE &&
missionitem.nav_cmd != NAV_CMD_DO_MOUNT_CONTROL &&
missionitem.nav_cmd != NAV_CMD_DO_SET_ROI &&
missionitem.nav_cmd != NAV_CMD_DO_SET_ROI_LOCATION &&
missionitem.nav_cmd != NAV_CMD_DO_SET_ROI_WPNEXT_OFFSET &&
missionitem.nav_cmd != NAV_CMD_DO_SET_ROI_NONE &&
missionitem.nav_cmd != NAV_CMD_DO_SET_CAM_TRIGG_DIST &&
missionitem.nav_cmd != NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL &&
missionitem.nav_cmd != NAV_CMD_SET_CAMERA_MODE &&
missionitem.nav_cmd != NAV_CMD_DO_VTOL_TRANSITION) {
takeoff_first = false;
} else {
takeoff_first = true;
}
}
}
@ -441,31 +451,41 @@ MissionFeasibilityChecker::checkFixedWingTakeoff(const mission_s &mission, float
// one of the bellow mission items
for (size_t i = 0; i < (size_t)takeoff_index; i++) {
struct mission_item_s missionitem = {};
const ssize_t len = sizeof(struct mission_item_s);
if (missionitem.nav_cmd == NAV_CMD_IDLE ||
missionitem.nav_cmd == NAV_CMD_DELAY ||
missionitem.nav_cmd == NAV_CMD_DO_JUMP ||
missionitem.nav_cmd == NAV_CMD_DO_CHANGE_SPEED ||
missionitem.nav_cmd == NAV_CMD_DO_SET_HOME ||
missionitem.nav_cmd == NAV_CMD_DO_SET_SERVO ||
missionitem.nav_cmd == NAV_CMD_DO_LAND_START ||
missionitem.nav_cmd == NAV_CMD_DO_TRIGGER_CONTROL ||
missionitem.nav_cmd == NAV_CMD_DO_DIGICAM_CONTROL ||
missionitem.nav_cmd == NAV_CMD_IMAGE_START_CAPTURE ||
missionitem.nav_cmd == NAV_CMD_IMAGE_STOP_CAPTURE ||
missionitem.nav_cmd == NAV_CMD_VIDEO_START_CAPTURE ||
missionitem.nav_cmd == NAV_CMD_VIDEO_STOP_CAPTURE ||
missionitem.nav_cmd == NAV_CMD_DO_MOUNT_CONFIGURE ||
missionitem.nav_cmd == NAV_CMD_DO_MOUNT_CONTROL ||
missionitem.nav_cmd == NAV_CMD_DO_SET_ROI ||
missionitem.nav_cmd == NAV_CMD_DO_SET_ROI_LOCATION ||
missionitem.nav_cmd == NAV_CMD_DO_SET_ROI_WPNEXT_OFFSET ||
missionitem.nav_cmd == NAV_CMD_DO_SET_ROI_NONE ||
missionitem.nav_cmd == NAV_CMD_DO_SET_CAM_TRIGG_DIST ||
missionitem.nav_cmd == NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL ||
missionitem.nav_cmd == NAV_CMD_SET_CAMERA_MODE ||
missionitem.nav_cmd == NAV_CMD_DO_VTOL_TRANSITION) {
if (dm_read((dm_item_t)mission.dataman_id, i, &missionitem, len) != len) {
/* not supposed to happen unless the datamanager can't access the SD card, etc. */
return false;
}
if (missionitem.nav_cmd != NAV_CMD_IDLE &&
missionitem.nav_cmd != NAV_CMD_DELAY &&
missionitem.nav_cmd != NAV_CMD_DO_JUMP &&
missionitem.nav_cmd != NAV_CMD_DO_CHANGE_SPEED &&
missionitem.nav_cmd != NAV_CMD_DO_SET_HOME &&
missionitem.nav_cmd != NAV_CMD_DO_SET_SERVO &&
missionitem.nav_cmd != NAV_CMD_DO_LAND_START &&
missionitem.nav_cmd != NAV_CMD_DO_TRIGGER_CONTROL &&
missionitem.nav_cmd != NAV_CMD_DO_DIGICAM_CONTROL &&
missionitem.nav_cmd != NAV_CMD_IMAGE_START_CAPTURE &&
missionitem.nav_cmd != NAV_CMD_IMAGE_STOP_CAPTURE &&
missionitem.nav_cmd != NAV_CMD_VIDEO_START_CAPTURE &&
missionitem.nav_cmd != NAV_CMD_VIDEO_STOP_CAPTURE &&
missionitem.nav_cmd != NAV_CMD_DO_MOUNT_CONFIGURE &&
missionitem.nav_cmd != NAV_CMD_DO_MOUNT_CONTROL &&
missionitem.nav_cmd != NAV_CMD_DO_SET_ROI &&
missionitem.nav_cmd != NAV_CMD_DO_SET_ROI_LOCATION &&
missionitem.nav_cmd != NAV_CMD_DO_SET_ROI_WPNEXT_OFFSET &&
missionitem.nav_cmd != NAV_CMD_DO_SET_ROI_NONE &&
missionitem.nav_cmd != NAV_CMD_DO_SET_CAM_TRIGG_DIST &&
missionitem.nav_cmd != NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL &&
missionitem.nav_cmd != NAV_CMD_SET_CAMERA_MODE &&
missionitem.nav_cmd != NAV_CMD_DO_VTOL_TRANSITION) {
takeoff_first = false;
} else {
takeoff_first = true;
}
}
}