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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-21 18:23:34 +08:00
Beat Küng
b0e1cc72f7
Fixes a regression from 8bae4e5c0e, where
the orbit flight task wasn't an extra task (flight_tasks_to_add) anymore
and therefore the command handling wasn't generated.
There was a race condition that could cause several outcomes. The most severe
was that flight_mode_manager gets the command, switches to orbit and then
in the next iteration switches back because commander did not change
nav_state yet. When commander then switches, flight_mode_manager would still
be in the old mode.
This is prevented by storing the command (allowing it to arrive before or
after mode switch), and then apply it after the switch happens.
78 lines
2.6 KiB
Plaintext
78 lines
2.6 KiB
Plaintext
/****************************************************************************
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*
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* Copyright (c) 2018 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @@file FlightTasks_generated.cpp
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*
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* Generated file to switch between all required flight tasks
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*
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* @@author Christoph Tobler <christoph@@px4.io>
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*/
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#include "FlightModeManager.hpp"
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#include "FlightTasks_generated.hpp"
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int FlightModeManager::_initTask(FlightTaskIndex task_index)
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{
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// disable the old task if there is any
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if (_current_task.task) {
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_current_task.task->~FlightTask();
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_current_task.task = nullptr;
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_current_task.index = FlightTaskIndex::None;
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}
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switch (task_index) {
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case FlightTaskIndex::None:
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// already disabled task
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break;
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@# loop through all requested tasks
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@[if tasks]@
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@[for task in tasks]@
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case FlightTaskIndex::@(task):
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_current_task.task = new (&_task_union.@(task)) FlightTask@(task)();
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break;
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@[end for]@
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@[end if]@
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default:
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// invalid task
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return 1;
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}
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// task construction succeeded
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_current_task.index = task_index;
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return 0;
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}
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