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mission_feasibility_checker: takeoff: fix init of mission item

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This commit is contained in:
TSC21
2019-02-22 23:12:13 +00:00
committed by Julian Oes
parent 8bf9ec32dc
commit 9fa7f341e4
1 changed files with 66 additions and 46 deletions
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src/modules/navigator/mission_feasibility_checker.cpp
+66 -46
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@@ -149,31 +149,41 @@ MissionFeasibilityChecker::checkRotarywing(const mission_s &mission, float home_
// one of the bellow mission items // one of the bellow mission items
for (size_t i = 0; i < (size_t)takeoff_index; i++) { for (size_t i = 0; i < (size_t)takeoff_index; i++) {
struct mission_item_s missionitem = {}; struct mission_item_s missionitem = {};
const ssize_t len = sizeof(struct mission_item_s);
if (missionitem.nav_cmd == NAV_CMD_IDLE || if (dm_read((dm_item_t)mission.dataman_id, i, &missionitem, len) != len) {
missionitem.nav_cmd == NAV_CMD_DELAY || /* not supposed to happen unless the datamanager can't access the SD card, etc. */
missionitem.nav_cmd == NAV_CMD_DO_JUMP || return false;
missionitem.nav_cmd == NAV_CMD_DO_CHANGE_SPEED || }
missionitem.nav_cmd == NAV_CMD_DO_SET_HOME ||
missionitem.nav_cmd == NAV_CMD_DO_SET_SERVO || if (missionitem.nav_cmd != NAV_CMD_IDLE &&
missionitem.nav_cmd == NAV_CMD_DO_LAND_START || missionitem.nav_cmd != NAV_CMD_DELAY &&
missionitem.nav_cmd == NAV_CMD_DO_TRIGGER_CONTROL || missionitem.nav_cmd != NAV_CMD_DO_JUMP &&
missionitem.nav_cmd == NAV_CMD_DO_DIGICAM_CONTROL || missionitem.nav_cmd != NAV_CMD_DO_CHANGE_SPEED &&
missionitem.nav_cmd == NAV_CMD_IMAGE_START_CAPTURE || missionitem.nav_cmd != NAV_CMD_DO_SET_HOME &&
missionitem.nav_cmd == NAV_CMD_IMAGE_STOP_CAPTURE || missionitem.nav_cmd != NAV_CMD_DO_SET_SERVO &&
missionitem.nav_cmd == NAV_CMD_VIDEO_START_CAPTURE || missionitem.nav_cmd != NAV_CMD_DO_LAND_START &&
missionitem.nav_cmd == NAV_CMD_VIDEO_STOP_CAPTURE || missionitem.nav_cmd != NAV_CMD_DO_TRIGGER_CONTROL &&
missionitem.nav_cmd == NAV_CMD_DO_MOUNT_CONFIGURE || missionitem.nav_cmd != NAV_CMD_DO_DIGICAM_CONTROL &&
missionitem.nav_cmd == NAV_CMD_DO_MOUNT_CONTROL || missionitem.nav_cmd != NAV_CMD_IMAGE_START_CAPTURE &&
missionitem.nav_cmd == NAV_CMD_DO_SET_ROI || missionitem.nav_cmd != NAV_CMD_IMAGE_STOP_CAPTURE &&
missionitem.nav_cmd == NAV_CMD_DO_SET_ROI_LOCATION || missionitem.nav_cmd != NAV_CMD_VIDEO_START_CAPTURE &&
missionitem.nav_cmd == NAV_CMD_DO_SET_ROI_WPNEXT_OFFSET || missionitem.nav_cmd != NAV_CMD_VIDEO_STOP_CAPTURE &&
missionitem.nav_cmd == NAV_CMD_DO_SET_ROI_NONE || missionitem.nav_cmd != NAV_CMD_DO_MOUNT_CONFIGURE &&
missionitem.nav_cmd == NAV_CMD_DO_SET_CAM_TRIGG_DIST || missionitem.nav_cmd != NAV_CMD_DO_MOUNT_CONTROL &&
missionitem.nav_cmd == NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL || missionitem.nav_cmd != NAV_CMD_DO_SET_ROI &&
missionitem.nav_cmd == NAV_CMD_SET_CAMERA_MODE || missionitem.nav_cmd != NAV_CMD_DO_SET_ROI_LOCATION &&
missionitem.nav_cmd == NAV_CMD_DO_VTOL_TRANSITION) { missionitem.nav_cmd != NAV_CMD_DO_SET_ROI_WPNEXT_OFFSET &&
missionitem.nav_cmd != NAV_CMD_DO_SET_ROI_NONE &&
missionitem.nav_cmd != NAV_CMD_DO_SET_CAM_TRIGG_DIST &&
missionitem.nav_cmd != NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL &&
missionitem.nav_cmd != NAV_CMD_SET_CAMERA_MODE &&
missionitem.nav_cmd != NAV_CMD_DO_VTOL_TRANSITION) {
takeoff_first = false;
} else {
takeoff_first = true; takeoff_first = true;
} }
} }
} }
@@ -441,31 +451,41 @@ MissionFeasibilityChecker::checkFixedWingTakeoff(const mission_s &mission, float
// one of the bellow mission items // one of the bellow mission items
for (size_t i = 0; i < (size_t)takeoff_index; i++) { for (size_t i = 0; i < (size_t)takeoff_index; i++) {
struct mission_item_s missionitem = {}; struct mission_item_s missionitem = {};
const ssize_t len = sizeof(struct mission_item_s);
if (missionitem.nav_cmd == NAV_CMD_IDLE || if (dm_read((dm_item_t)mission.dataman_id, i, &missionitem, len) != len) {
missionitem.nav_cmd == NAV_CMD_DELAY || /* not supposed to happen unless the datamanager can't access the SD card, etc. */
missionitem.nav_cmd == NAV_CMD_DO_JUMP || return false;
missionitem.nav_cmd == NAV_CMD_DO_CHANGE_SPEED || }
missionitem.nav_cmd == NAV_CMD_DO_SET_HOME ||
missionitem.nav_cmd == NAV_CMD_DO_SET_SERVO || if (missionitem.nav_cmd != NAV_CMD_IDLE &&
missionitem.nav_cmd == NAV_CMD_DO_LAND_START || missionitem.nav_cmd != NAV_CMD_DELAY &&
missionitem.nav_cmd == NAV_CMD_DO_TRIGGER_CONTROL || missionitem.nav_cmd != NAV_CMD_DO_JUMP &&
missionitem.nav_cmd == NAV_CMD_DO_DIGICAM_CONTROL || missionitem.nav_cmd != NAV_CMD_DO_CHANGE_SPEED &&
missionitem.nav_cmd == NAV_CMD_IMAGE_START_CAPTURE || missionitem.nav_cmd != NAV_CMD_DO_SET_HOME &&
missionitem.nav_cmd == NAV_CMD_IMAGE_STOP_CAPTURE || missionitem.nav_cmd != NAV_CMD_DO_SET_SERVO &&
missionitem.nav_cmd == NAV_CMD_VIDEO_START_CAPTURE || missionitem.nav_cmd != NAV_CMD_DO_LAND_START &&
missionitem.nav_cmd == NAV_CMD_VIDEO_STOP_CAPTURE || missionitem.nav_cmd != NAV_CMD_DO_TRIGGER_CONTROL &&
missionitem.nav_cmd == NAV_CMD_DO_MOUNT_CONFIGURE || missionitem.nav_cmd != NAV_CMD_DO_DIGICAM_CONTROL &&
missionitem.nav_cmd == NAV_CMD_DO_MOUNT_CONTROL || missionitem.nav_cmd != NAV_CMD_IMAGE_START_CAPTURE &&
missionitem.nav_cmd == NAV_CMD_DO_SET_ROI || missionitem.nav_cmd != NAV_CMD_IMAGE_STOP_CAPTURE &&
missionitem.nav_cmd == NAV_CMD_DO_SET_ROI_LOCATION || missionitem.nav_cmd != NAV_CMD_VIDEO_START_CAPTURE &&
missionitem.nav_cmd == NAV_CMD_DO_SET_ROI_WPNEXT_OFFSET || missionitem.nav_cmd != NAV_CMD_VIDEO_STOP_CAPTURE &&
missionitem.nav_cmd == NAV_CMD_DO_SET_ROI_NONE || missionitem.nav_cmd != NAV_CMD_DO_MOUNT_CONFIGURE &&
missionitem.nav_cmd == NAV_CMD_DO_SET_CAM_TRIGG_DIST || missionitem.nav_cmd != NAV_CMD_DO_MOUNT_CONTROL &&
missionitem.nav_cmd == NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL || missionitem.nav_cmd != NAV_CMD_DO_SET_ROI &&
missionitem.nav_cmd == NAV_CMD_SET_CAMERA_MODE || missionitem.nav_cmd != NAV_CMD_DO_SET_ROI_LOCATION &&
missionitem.nav_cmd == NAV_CMD_DO_VTOL_TRANSITION) { missionitem.nav_cmd != NAV_CMD_DO_SET_ROI_WPNEXT_OFFSET &&
missionitem.nav_cmd != NAV_CMD_DO_SET_ROI_NONE &&
missionitem.nav_cmd != NAV_CMD_DO_SET_CAM_TRIGG_DIST &&
missionitem.nav_cmd != NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL &&
missionitem.nav_cmd != NAV_CMD_SET_CAMERA_MODE &&
missionitem.nav_cmd != NAV_CMD_DO_VTOL_TRANSITION) {
takeoff_first = false;
} else {
takeoff_first = true; takeoff_first = true;
} }
} }
} }