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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 22:13:34 +08:00
Konrad
007ed11bbe
Dataman: Add write function to dataman cache. RTL and mission have a new common base class mission_base. Both inherit from them and mission, RTL mission, and rtl reverse mission inherit from them and implement their desired functionalities. This simplifies the logic in mission as well as make the logic in rtl mission reverse and mission more readable. Rtl mission reverse now functional again for VTOL flying back the mission and transitioning to MC at the home position. Dataman cache has new write functionality to write to dataman while updating write item in its cache if necessary. Dataman cache is now only updated when the respective module is active. Leads to a higher computation time once on activation, but decreases unnecessary cache updates when inactive.
99 lines
2.6 KiB
C++
99 lines
2.6 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2014 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 navigator_mode.cpp
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*
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* Base class for different modes in navigator
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*
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* @author Julian Oes <julian@oes.ch>
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* @author Anton Babushkin <anton.babushkin@me.com>
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*/
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#include "navigator_mode.h"
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#include "navigator.h"
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NavigatorMode::NavigatorMode(Navigator *navigator) :
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_navigator(navigator)
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{
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/* set initial mission items */
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on_inactivation();
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on_inactive();
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}
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void
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NavigatorMode::run(bool active)
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{
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if (active) {
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if (!_active) {
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on_activation();
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} else {
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/* periodic updates when active */
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on_active();
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}
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} else {
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/* periodic updates when inactive */
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if (_active) {
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on_inactivation();
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} else {
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on_inactive();
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}
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}
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_active = active;
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}
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void
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NavigatorMode::on_inactive()
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{
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}
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void
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NavigatorMode::on_inactivation()
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{
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}
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void
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NavigatorMode::on_activation()
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{
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/* invalidate position setpoint by default */
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_navigator->get_position_setpoint_triplet()->current.valid = false;
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}
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void
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NavigatorMode::on_active()
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{
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}
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