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[RTL] Update MAVLINK Mission logic to send optional loiter points to mission rally points.

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Konrad
2023-10-31 14:16:02 +01:00
committed by Roman Bapst
parent 26fd4c852c
commit e2cbf5be94
6 changed files with 21 additions and 40 deletions
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src/modules/dataman/dataman.cpp
+1 -1
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@@ -991,7 +991,7 @@ dataman_main(int argc, char *argv[])
}
static_assert(sizeof(dataman_request_s::data) == sizeof(dataman_response_s::data), "request and response data are not the same size");
static_assert(sizeof(dataman_response_s::data) >= MISSION_SAFE_POINT_SIZE, "mission_safe_point_s can't fit in the response data");
static_assert(sizeof(dataman_response_s::data) >= MISSION_SAFE_POINT_SIZE, "mission_item_s can't fit in the response data");
static_assert(sizeof(dataman_response_s::data) >= MISSION_FENCE_POINT_SIZE, "mission_fance_point_s can't fit in the response data");
static_assert(sizeof(dataman_response_s::data) >= MISSION_ITEM_SIZE, "mission_item_s can't fit in the response data");
static_assert(sizeof(dataman_response_s::data) >= MISSION_SIZE, "mission_s can't fit in the response data");
src/modules/dataman/dataman.h
+4 -4
View File
@@ -74,7 +74,7 @@ enum {
};
#else
enum {
DM_KEY_SAFE_POINTS_MAX = 8,
DM_KEY_SAFE_POINTS_MAX = 32,
DM_KEY_FENCE_POINTS_MAX = 64,
DM_KEY_WAYPOINTS_OFFBOARD_0_MAX = NUM_MISSIONS_SUPPORTED,
DM_KEY_WAYPOINTS_OFFBOARD_1_MAX = NUM_MISSIONS_SUPPORTED,
@@ -93,7 +93,7 @@ static const unsigned g_per_item_max_index[DM_KEY_NUM_KEYS] = {
DM_KEY_COMPAT_MAX
};
constexpr uint32_t MISSION_SAFE_POINT_SIZE = sizeof(struct mission_safe_point_s);
constexpr uint32_t MISSION_SAFE_POINT_SIZE = sizeof(struct mission_item_s);
constexpr uint32_t MISSION_FENCE_POINT_SIZE = sizeof(struct mission_fence_point_s);
constexpr uint32_t MISSION_ITEM_SIZE = sizeof(struct mission_item_s);
constexpr uint32_t MISSION_SIZE = sizeof(struct mission_s);
@@ -114,9 +114,9 @@ struct dataman_compat_s {
};
/* increment this define whenever a binary incompatible change is performed */
#define DM_COMPAT_VERSION 3ULL
#define DM_COMPAT_VERSION 4ULL
#define DM_COMPAT_KEY ((DM_COMPAT_VERSION << 32) + (sizeof(struct mission_item_s) << 24) + \
(sizeof(struct mission_s) << 16) + (sizeof(struct mission_stats_entry_s) << 12) + \
(sizeof(struct mission_fence_point_s) << 8) + (sizeof(struct mission_safe_point_s) << 4) + \
(sizeof(struct mission_fence_point_s) << 8) + (sizeof(struct mission_item_s) << 4) + \
sizeof(struct dataman_compat_s))