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navigator: more API changes, duplicate code removed

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This commit is contained in:
Anton Babushkin
2014-06-29 15:35:34 +02:00
parent 8a442c2125
commit adf230ce4e
6 changed files with 110 additions and 134 deletions
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src/modules/navigator/rtl.cpp
+19 -18
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@@ -82,7 +82,7 @@ RTL::on_inactive()
}
void
RTL::on_activation(struct position_setpoint_triplet_s *pos_sp_triplet)
RTL::on_activation()
{
/* decide where to enter the RTL procedure when we switch into it */
if (_rtl_state == RTL_STATE_NONE) {
@@ -105,28 +105,27 @@ RTL::on_activation(struct position_setpoint_triplet_s *pos_sp_triplet)
}
}
set_rtl_item(pos_sp_triplet);
}
bool
RTL::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
{
if (_rtl_state != RTL_STATE_LANDED && is_mission_item_reached()) {
advance_rtl();
set_rtl_item(pos_sp_triplet);
return true;
}
return false;
set_rtl_item();
}
void
RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
RTL::on_active()
{
if (_rtl_state != RTL_STATE_LANDED && is_mission_item_reached()) {
advance_rtl();
set_rtl_item();
}
}
void
RTL::set_rtl_item()
{
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
/* make sure we have the latest params */
updateParams();
set_previous_pos_setpoint(pos_sp_triplet);
set_previous_pos_setpoint();
_navigator->set_can_loiter_at_sp(false);
switch (_rtl_state) {
@@ -273,11 +272,13 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
break;
}
reset_mission_item_reached();
/* convert mission item to current position setpoint and make it valid */
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
reset_mission_item_reached();
pos_sp_triplet->current.valid = true;
pos_sp_triplet->next.valid = false;
_navigator->set_position_setpoint_triplet_updated();
}
void