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AP_Mission: add and use an option_is_set method

This commit is contained in:
Peter Barker 2024-07-26 10:58:16 +10:00 committed by Peter Barker
parent bbde876353
commit 317fab2f19
2 changed files with 14 additions and 8 deletions
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4
libraries/AP_Mission/AP_Mission.cpp
View File

@ -95,7 +95,7 @@ void AP_Mission::init()
init_jump_tracking();
// If Mission Clear bit is set then it should clear the mission, otherwise retain the mission.
if (AP_MISSION_MASK_MISSION_CLEAR & _options) {
if (option_is_set(Option::CLEAR_ON_BOOT)) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Clearing Mission");
clear();
}
@ -2502,7 +2502,7 @@ bool AP_Mission::is_best_land_sequence(const Location &current_loc)
}
// check if MIS_OPTIONS bit set to allow distance calculation to be done
if (!(_options & AP_MISSION_MASK_DIST_TO_LAND_CALC)) {
if (!option_is_set(Option::FAILSAFE_TO_BEST_LANDING)) {
return false;
}

18
libraries/AP_Mission/AP_Mission.h
View File

@ -45,9 +45,6 @@
#define AP_MISSION_RESTART_DEFAULT 0 // resume the mission from the last command run by default
#define AP_MISSION_OPTIONS_DEFAULT 0 // Do not clear the mission when rebooting
#define AP_MISSION_MASK_MISSION_CLEAR (1<<0) // If set then Clear the mission on boot
#define AP_MISSION_MASK_DIST_TO_LAND_CALC (1<<1) // Allow distance to best landing calculation to be run on failsafe
#define AP_MISSION_MASK_CONTINUE_AFTER_LAND (1<<2) // Allow mission to continue after land
#define AP_MISSION_MAX_WP_HISTORY 7 // The maximum number of previous wp commands that will be stored from the active missions history
#define LAST_WP_PASSED (AP_MISSION_MAX_WP_HISTORY-2)
@ -732,14 +729,23 @@ public:
void reset_wp_history(void);
/*
return true if MIS_OPTIONS is set to allow continue of mission
logic after a land and the next waypoint is a takeoff. If this
Option::FailsafeToBestLanding - continue mission
logic after a land if the next waypoint is a takeoff. If this
is false then after a landing is complete the vehicle should
disarm and mission logic should stop
*/
enum class Option {
CLEAR_ON_BOOT = 0, // clear mission on vehicle boot
FAILSAFE_TO_BEST_LANDING = 1, // on failsafe, find fastest path along mission home
CONTINUE_AFTER_LAND = 2, // continue running mission (do not disarm) after land if takeoff is next waypoint
};
bool option_is_set(Option option) const {
return (_options.get() & (uint16_t)option) != 0;
}
bool continue_after_land_check_for_takeoff(void);
bool continue_after_land(void) const {
return (_options.get() & AP_MISSION_MASK_CONTINUE_AFTER_LAND) != 0;
return option_is_set(Option::CONTINUE_AFTER_LAND);
}
// user settable parameters