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navigator: lot's of cleanup (WIP)

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This commit is contained in:
Julian Oes
2014-04-21 17:36:59 +02:00
parent 488785250f
commit c3c0328e8b
21 changed files with 980 additions and 953 deletions
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src/modules/mavlink/mavlink_main.cpp
+5 -2
View File
@@ -872,7 +872,7 @@ int Mavlink::map_mavlink_mission_item_to_mission_item(const mavlink_mission_item
break;
case MAV_CMD_DO_JUMP:
mission_item->do_jump_mission_index = mavlink_mission_item->param1;
/* TODO: also save param2 (repeat count) */
mission_item->do_jump_repeat_count = mavlink_mission_item->param2;
break;
default:
mission_item->acceptance_radius = mavlink_mission_item->param2;
@@ -889,6 +889,9 @@ int Mavlink::map_mavlink_mission_item_to_mission_item(const mavlink_mission_item
// mission_item->index = mavlink_mission_item->seq;
mission_item->origin = ORIGIN_MAVLINK;
/* reset DO_JUMP count */
mission_item->do_jump_current_count = 0;
return OK;
}
@@ -908,7 +911,7 @@ int Mavlink::map_mission_item_to_mavlink_mission_item(const struct mission_item_
case NAV_CMD_DO_JUMP:
mavlink_mission_item->param1 = mission_item->do_jump_mission_index;
/* TODO: also save param2 (repeat count) */
mavlink_mission_item->param2 = mission_item->do_jump_repeat_count;
break;
default:
src/modules/mavlink/mavlink_messages.cpp
+3 -2
View File
@@ -117,7 +117,8 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
union px4_custom_mode custom_mode;
custom_mode.data = 0;
if (pos_sp_triplet->nav_state == NAV_STATE_NONE) {
if (pos_sp_triplet->nav_state == NAV_STATE_NONE_ON_GROUND
|| pos_sp_triplet->nav_state == NAV_STATE_NONE_IN_AIR) {
/* use main state when navigator is not active */
if (status->main_state == MAIN_STATE_MANUAL) {
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (status->is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0);
@@ -142,7 +143,7 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
if (pos_sp_triplet->nav_state == NAV_STATE_READY) {
if (pos_sp_triplet->nav_state == NAV_STATE_AUTO_ON_GROUND) {
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY;
} else if (pos_sp_triplet->nav_state == NAV_STATE_LOITER) {