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mission require valid landing after DO_LAND_START

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This commit is contained in:
Daniel Agar
2017-04-20 14:41:01 -04:00
parent 56b028148b
commit ed1b442065
14 changed files with 343 additions and 350 deletions
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src/modules/navigator/mission_block.cpp
+11 -20
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@@ -474,29 +474,20 @@ MissionBlock::get_time_inside(const struct mission_item_s &item)
bool
MissionBlock::item_contains_position(const struct mission_item_s *item)
{
// XXX: maybe extend that check onto item properties
if (item->nav_cmd == NAV_CMD_DO_JUMP ||
item->nav_cmd == NAV_CMD_DO_CHANGE_SPEED ||
item->nav_cmd == NAV_CMD_DO_SET_SERVO ||
item->nav_cmd == NAV_CMD_DO_LAND_START ||
item->nav_cmd == NAV_CMD_DO_DIGICAM_CONTROL ||
item->nav_cmd == NAV_CMD_IMAGE_START_CAPTURE ||
item->nav_cmd == NAV_CMD_IMAGE_STOP_CAPTURE ||
item->nav_cmd == NAV_CMD_VIDEO_START_CAPTURE ||
item->nav_cmd == NAV_CMD_VIDEO_STOP_CAPTURE ||
item->nav_cmd == NAV_CMD_DO_MOUNT_CONFIGURE ||
item->nav_cmd == NAV_CMD_DO_MOUNT_CONTROL ||
item->nav_cmd == NAV_CMD_DO_SET_ROI ||
item->nav_cmd == NAV_CMD_ROI ||
item->nav_cmd == NAV_CMD_DO_SET_CAM_TRIGG_DIST ||
item->nav_cmd == NAV_CMD_DO_VTOL_TRANSITION ||
item->nav_cmd == NAV_CMD_DELAY ||
item->nav_cmd == NAV_CMD_RETURN_TO_LAUNCH) {
if (item->nav_cmd == NAV_CMD_WAYPOINT ||
item->nav_cmd == NAV_CMD_LOITER_UNLIMITED ||
item->nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
item->nav_cmd == NAV_CMD_LAND ||
item->nav_cmd == NAV_CMD_TAKEOFF ||
item->nav_cmd == NAV_CMD_LOITER_TO_ALT ||
item->nav_cmd == NAV_CMD_VTOL_TAKEOFF ||
item->nav_cmd == NAV_CMD_VTOL_LAND) {
return true;
return false;
}
return true;
return false;
}
void