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This commit is contained in:
Lorenz Meier
2014-06-29 19:12:35 +02:00
parent 164f19176e 94c69e11ae
commit ecee13861c
59 changed files with 1415 additions and 807 deletions
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src/modules/navigator/mission.cpp
+6 -17
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@@ -58,8 +58,7 @@
#include "mission.h"
Mission::Mission(Navigator *navigator, const char *name) :
NavigatorMode(navigator, name),
MissionBlock(navigator),
MissionBlock(navigator, name),
_param_onboard_enabled(this, "ONBOARD_EN"),
_onboard_mission({0}),
_offboard_mission({0}),
@@ -231,7 +230,7 @@ Mission::advance_mission()
void
Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet)
{
set_previous_pos_setpoint(&pos_sp_triplet->current, &pos_sp_triplet->previous);
set_previous_pos_setpoint(pos_sp_triplet);
/* try setting onboard mission item */
if (is_current_onboard_mission_item_set(&pos_sp_triplet->current)) {
@@ -241,7 +240,7 @@ Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet)
"#audio: onboard mission running");
}
_mission_type = MISSION_TYPE_ONBOARD;
_navigator->set_is_in_loiter(false);
_navigator->set_can_loiter_at_sp(false);
/* try setting offboard mission item */
} else if (is_current_offboard_mission_item_set(&pos_sp_triplet->current)) {
@@ -251,7 +250,7 @@ Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet)
"#audio: offboard mission running");
}
_mission_type = MISSION_TYPE_OFFBOARD;
_navigator->set_is_in_loiter(false);
_navigator->set_can_loiter_at_sp(false);
} else {
if (_mission_type != MISSION_TYPE_NONE) {
mavlink_log_info(_navigator->get_mavlink_fd(),
@@ -261,24 +260,14 @@ Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet)
"#audio: no mission available");
}
_mission_type = MISSION_TYPE_NONE;
_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.valid && _waypoint_position_reached);
bool use_current_pos_sp = pos_sp_triplet->current.valid && _waypoint_position_reached;
set_loiter_item(use_current_pos_sp, pos_sp_triplet);
set_loiter_item(pos_sp_triplet);
reset_mission_item_reached();
report_mission_finished();
}
}
void
Mission::set_previous_pos_setpoint(const struct position_setpoint_s *current_pos_sp,
struct position_setpoint_s *previous_pos_sp)
{
/* reuse current setpoint as previous setpoint */
if (current_pos_sp->valid) {
memcpy(previous_pos_sp, current_pos_sp, sizeof(struct position_setpoint_s));
}
}
bool
Mission::is_current_onboard_mission_item_set(struct position_setpoint_s *current_pos_sp)
{