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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/mavlink/mavlink_mission.cpp
+3 -15
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@@ -309,15 +309,8 @@ MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t
break;
case MAV_MISSION_TYPE_RALLY: { // Read a safe point / rally point
mission_safe_point_s mission_safe_point;
read_success = _dataman_client.readSync(DM_KEY_SAFE_POINTS, seq + 1, reinterpret_cast<uint8_t *>(&mission_safe_point),
sizeof(mission_safe_point_s));
mission_item.nav_cmd = MAV_CMD_NAV_RALLY_POINT;
mission_item.frame = mission_safe_point.frame;
mission_item.lat = mission_safe_point.lat;
mission_item.lon = mission_safe_point.lon;
mission_item.altitude = mission_safe_point.alt;
read_success = _dataman_client.readSync(DM_KEY_SAFE_POINTS, seq + 1, reinterpret_cast<uint8_t *>(&mission_item),
sizeof(mission_item_s));
}
break;
@@ -1140,13 +1133,8 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
break;
case MAV_MISSION_TYPE_RALLY: { // Write a safe point / rally point
mission_safe_point_s mission_safe_point;
mission_safe_point.lat = mission_item.lat;
mission_safe_point.lon = mission_item.lon;
mission_safe_point.alt = mission_item.altitude;
mission_safe_point.frame = mission_item.frame;
write_failed = !_dataman_client.writeSync(DM_KEY_SAFE_POINTS, wp.seq + 1,
reinterpret_cast<uint8_t *>(&mission_safe_point), sizeof(mission_safe_point_s), 2_s);
reinterpret_cast<uint8_t *>(&mission_item), sizeof(mission_item_s), 2_s);
}
break;