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Update to latest mission API

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Lorenz Meier
2018-07-12 22:30:33 +02:00
parent b405c7e9bd
commit 5936844595
3 changed files with 17 additions and 20 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/mission.cpp
+9 -12
View File
@@ -595,7 +595,7 @@ Mission::set_mission_items()
work_item_type new_work_item_type = WORK_ITEM_TYPE_DEFAULT;
if (prepare_mission_items(&_mission_item, &mission_item_next_position, &has_next_position_item,
&mission_item_next_next_position, &has_next_next_position_item)) {
&mission_item_next_next_position, &has_next_next_position_item)) {
/* if mission type changed, notify */
if (_mission_type != MISSION_TYPE_MISSION) {
mavlink_log_info(_navigator->get_mavlink_log_pub(),
@@ -801,7 +801,7 @@ Mission::set_mission_items()
if (has_next_position_item) {
/* got next mission item, update setpoint triplet */
mission_item_to_position_setpoint(&mission_item_next_position, &pos_sp_triplet->current);
mission_item_to_position_setpoint(mission_item_next_position, &pos_sp_triplet->current);
} else {
_mission_item.yaw = _navigator->get_global_position()->yaw;
@@ -1054,16 +1054,13 @@ Mission::set_mission_items()
position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
if (item_contains_gate(&_mission_item)) {
if (item_contains_gate(_mission_item)) {
if (has_next_position_item) {
/* we have a new position item so set previous position setpoint to current */
set_previous_pos_setpoint();
/* got next mission item, update setpoint triplet */
mission_item_to_position_setpoint(&mission_item_next_position, &pos_sp_triplet->current);
mission_item_to_position_setpoint(mission_item_next_position, &pos_sp_triplet->current);
}
} else {
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
/* set current position setpoint from mission item (is protected against non-position items) */
if (new_work_item_type != WORK_ITEM_TYPE_PRECISION_LAND) {
mission_apply_limitation(_mission_item);
@@ -1097,7 +1094,7 @@ Mission::set_mission_items()
set_current_mission_item();
}
if (item_contains_gate(&_mission_item)) {
if (item_contains_gate(_mission_item)) {
if (has_next_next_position_item) {
/* got next mission item, update setpoint triplet */
mission_apply_limitation(mission_item_next_position);
@@ -1112,7 +1109,7 @@ Mission::set_mission_items()
/* try to process next mission item */
if (has_next_position_item) {
/* got next mission item, update setpoint triplet */
mission_item_to_position_setpoint(&mission_item_next_position, &pos_sp_triplet->next);
mission_item_to_position_setpoint(mission_item_next_position, &pos_sp_triplet->next);
} else {
/* next mission item is not available */
@@ -1499,12 +1496,12 @@ Mission::prepare_mission_items(struct mission_item_s *mission_item,
}
if (_mission_execution_mode != mission_result_s::MISSION_EXECUTION_MODE_REVERSE &&
next_next_position_mission_item && has_next_next_position_item) {
next_next_position_mission_item && has_next_next_position_item) {
/* trying to find next next position mission item */
while (read_mission_item(onboard, offset, next_next_position_mission_item)) {
while (read_mission_item(offset, next_next_position_mission_item)) {
offset++;
if (item_contains_position(next_next_position_mission_item)) {
if (item_contains_position(*next_next_position_mission_item)) {
*has_next_next_position_item = true;
break;
}
src/modules/navigator/mission_block.cpp
+5 -5
View File
@@ -547,19 +547,19 @@ MissionBlock::item_contains_position(const mission_item_s &item)
}
bool
MissionBlock::item_contains_gate(const struct mission_item_s *item)
MissionBlock::item_contains_gate(const mission_item_s &item)
{
return item->nav_cmd == NAV_CMD_CONDITION_GATE;
return item.nav_cmd == NAV_CMD_CONDITION_GATE;
}
bool
MissionBlock::item_contains_marker(const struct mission_item_s *item)
MissionBlock::item_contains_marker(const mission_item_s &item)
{
return item->nav_cmd == NAV_CMD_DO_LAND_START;
return item.nav_cmd == NAV_CMD_DO_LAND_START;
}
bool
MissionBlock::mission_item_to_position_setpoint(const mission_item_s *item, position_setpoint_s *sp)
MissionBlock::mission_item_to_position_setpoint(const mission_item_s &item, position_setpoint_s *sp)
{
/* don't change the setpoint for non-position items */
if (!item_contains_position(item)) {
src/modules/navigator/mission_block.h
+3 -3
View File
@@ -72,21 +72,21 @@ public:
*
* @return false if mission item should not be part of the trajectory
*/
static bool item_contains_position(const mission_item_s *item);
static bool item_contains_position(const mission_item_s &item);
/**
* Check if the mission item contains a gate condition
*
* @return true if mission item is neither a position nor a command
*/
static bool item_contains_gate(const struct mission_item_s *item);
static bool item_contains_gate(const mission_item_s &item);
/**
* Check if the mission item contains a marker
*
* @return true if mission item is neither a position nor a command
*/
static bool item_contains_marker(const struct mission_item_s *item);
static bool item_contains_marker(const mission_item_s &item);
protected:
/**