fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-08 18:40:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

mavlink_mission: add alternating storage for geofence and safe points on upload

Browse Source 
This way the old points are kept on an upload error.
This commit is contained in:
Konrad
2023-12-05 13:35:03 +01:00
committed by Daniel Agar
parent 50f1abaef1
commit 9fd137e88e
7 changed files with 118 additions and 50 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/rtl.cpp
+3 -3
View File
@@ -111,7 +111,7 @@ void RTL::updateDatamanCache()
}
for (int index = 0; index < _dataman_cache_safepoint.size(); ++index) {
_dataman_cache_safepoint.load(DM_KEY_SAFE_POINTS_0, index);
_dataman_cache_safepoint.load(static_cast<dm_item_t>(_stats.dataman_id), index);
}
_dataman_state = DatamanState::Load;
@@ -397,7 +397,7 @@ void RTL::findRtlDestination(DestinationType &destination_type, DestinationPosit
for (int current_seq = 0; current_seq < _dataman_cache_safepoint.size(); ++current_seq) {
mission_item_s mission_safe_point;
bool success = _dataman_cache_safepoint.loadWait(DM_KEY_SAFE_POINTS_0, current_seq,
bool success = _dataman_cache_safepoint.loadWait(static_cast<dm_item_t>(_stats.dataman_id), current_seq,
reinterpret_cast<uint8_t *>(&mission_safe_point),
sizeof(mission_item_s), 500_ms);
@@ -629,7 +629,7 @@ land_approaches_s RTL::readVtolLandApproaches(DestinationPosition rtl_position)
for (int current_seq = 0; current_seq < _stats.num_items; ++current_seq) {
mission_item_s mission_item{};
bool success_mission_item = _dataman_cache_safepoint.loadWait(DM_KEY_SAFE_POINTS_0, current_seq,
bool success_mission_item = _dataman_cache_safepoint.loadWait(static_cast<dm_item_t>(_stats.dataman_id), current_seq,
reinterpret_cast<uint8_t *>(&mission_item),
sizeof(mission_item_s));