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navigator: make MissionBlock subclass of NavigatorMode

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This commit is contained in:
Anton Babushkin
2014-06-27 11:34:19 +02:00
parent 52eb49ba0b
commit affc312411
8 changed files with 32 additions and 38 deletions
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src/modules/navigator/mission_block.cpp
+22 -22
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@@ -52,13 +52,13 @@
#include "mission_block.h"
MissionBlock::MissionBlock(Navigator *navigator) :
MissionBlock::MissionBlock(Navigator *navigator, const char *name) :
NavigatorMode(navigator, name),
_waypoint_position_reached(false),
_waypoint_yaw_reached(false),
_time_first_inside_orbit(0),
_mission_item({0}),
_mission_item_valid(false),
_navigator_priv(navigator)
_mission_item_valid(false)
{
}
@@ -70,7 +70,7 @@ bool
MissionBlock::is_mission_item_reached()
{
if (_mission_item.nav_cmd == NAV_CMD_LAND) {
return _navigator_priv->get_vstatus()->condition_landed;
return _navigator->get_vstatus()->condition_landed;
}
/* TODO: count turns */
@@ -88,24 +88,24 @@ MissionBlock::is_mission_item_reached()
float dist_z = -1.0f;
float altitude_amsl = _mission_item.altitude_is_relative
? _mission_item.altitude + _navigator_priv->get_home_position()->alt
? _mission_item.altitude + _navigator->get_home_position()->alt
: _mission_item.altitude;
dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, altitude_amsl,
_navigator_priv->get_global_position()->lat,
_navigator_priv->get_global_position()->lon,
_navigator_priv->get_global_position()->alt,
_navigator->get_global_position()->lat,
_navigator->get_global_position()->lon,
_navigator->get_global_position()->alt,
&dist_xy, &dist_z);
if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF && _navigator_priv->get_vstatus()->is_rotary_wing) {
if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF && _navigator->get_vstatus()->is_rotary_wing) {
/* require only altitude for takeoff for multicopter */
if (_navigator_priv->get_global_position()->alt >
altitude_amsl - _navigator_priv->get_acceptance_radius()) {
if (_navigator->get_global_position()->alt >
altitude_amsl - _navigator->get_acceptance_radius()) {
_waypoint_position_reached = true;
}
} else if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF) {
/* for takeoff mission items use the parameter for the takeoff acceptance radius */
if (dist >= 0.0f && dist <= _navigator_priv->get_acceptance_radius()) {
if (dist >= 0.0f && dist <= _navigator->get_acceptance_radius()) {
_waypoint_position_reached = true;
}
} else {
@@ -119,10 +119,10 @@ MissionBlock::is_mission_item_reached()
if (_waypoint_position_reached && !_waypoint_yaw_reached) {
/* TODO: removed takeoff, why? */
if (_navigator_priv->get_vstatus()->is_rotary_wing && isfinite(_mission_item.yaw)) {
if (_navigator->get_vstatus()->is_rotary_wing && isfinite(_mission_item.yaw)) {
/* check yaw if defined only for rotary wing except takeoff */
float yaw_err = _wrap_pi(_mission_item.yaw - _navigator_priv->get_global_position()->yaw);
float yaw_err = _wrap_pi(_mission_item.yaw - _navigator->get_global_position()->yaw);
if (fabsf(yaw_err) < 0.2f) { /* TODO: get rid of magic number */
_waypoint_yaw_reached = true;
@@ -167,7 +167,7 @@ MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *ite
sp->valid = true;
sp->lat = item->lat;
sp->lon = item->lon;
sp->alt = item->altitude_is_relative ? item->altitude + _navigator_priv->get_home_position()->alt : item->altitude;
sp->alt = item->altitude_is_relative ? item->altitude + _navigator->get_home_position()->alt : item->altitude;
sp->yaw = item->yaw;
sp->loiter_radius = item->loiter_radius;
sp->loiter_direction = item->loiter_direction;
@@ -211,25 +211,25 @@ bool
MissionBlock::set_loiter_item(struct position_setpoint_triplet_s *pos_sp_triplet)
{
/* don't change setpoint if 'can_loiter_at_sp' flag set */
if (!(_navigator_priv->get_can_loiter_at_sp() && pos_sp_triplet->current.valid)) {
if (!(_navigator->get_can_loiter_at_sp() && pos_sp_triplet->current.valid)) {
/* use current position */
pos_sp_triplet->current.lat = _navigator_priv->get_global_position()->lat;
pos_sp_triplet->current.lon = _navigator_priv->get_global_position()->lon;
pos_sp_triplet->current.alt = _navigator_priv->get_global_position()->alt;
pos_sp_triplet->current.lat = _navigator->get_global_position()->lat;
pos_sp_triplet->current.lon = _navigator->get_global_position()->lon;
pos_sp_triplet->current.alt = _navigator->get_global_position()->alt;
pos_sp_triplet->current.yaw = NAN; /* NAN means to use current yaw */
_navigator_priv->set_can_loiter_at_sp(true);
_navigator->set_can_loiter_at_sp(true);
}
if (pos_sp_triplet->current.type != SETPOINT_TYPE_LOITER
|| pos_sp_triplet->current.loiter_radius != _navigator_priv->get_loiter_radius()
|| pos_sp_triplet->current.loiter_radius != _navigator->get_loiter_radius()
|| pos_sp_triplet->current.loiter_direction != 1
|| pos_sp_triplet->previous.valid
|| !pos_sp_triplet->current.valid
|| pos_sp_triplet->next.valid) {
/* position setpoint triplet should be updated */
pos_sp_triplet->current.type = SETPOINT_TYPE_LOITER;
pos_sp_triplet->current.loiter_radius = _navigator_priv->get_loiter_radius();
pos_sp_triplet->current.loiter_radius = _navigator->get_loiter_radius();
pos_sp_triplet->current.loiter_direction = 1;
pos_sp_triplet->previous.valid = false;