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AP_Mission: move jump_to_landing_sequence() to AP_Mission

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Tom Pittenger 2016-11-25 16:45:11 -08:00 committed by Tom Pittenger
parent d4d186058d
commit 40777e9e74
2 changed files with 28 additions and 0 deletions
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23
libraries/AP_Mission/AP_Mission.cpp
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@ -3,6 +3,7 @@
#include "AP_Mission.h" #include "AP_Mission.h"
#include <AP_Terrain/AP_Terrain.h> #include <AP_Terrain/AP_Terrain.h>
#include <GCS_MAVLink/GCS.h>
const AP_Param::GroupInfo AP_Mission::var_info[] = { const AP_Param::GroupInfo AP_Mission::var_info[] = {
@ -1615,3 +1616,25 @@ uint16_t AP_Mission::get_landing_sequence_start()
return landing_start_index; return landing_start_index;
} }
/*
find the nearest landing sequence starting point (DO_LAND_START) and
switch to that mission item. Returns false if no DO_LAND_START
available.
*/
bool AP_Mission::jump_to_landing_sequence(void)
{
uint16_t land_idx = get_landing_sequence_start();
if (land_idx != 0 && set_current_cmd(land_idx)) {
//if the mission has ended it has to be restarted
if (state() == AP_Mission::MISSION_STOPPED) {
resume();
}
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Landing sequence start");
return true;
}
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_WARNING, "Unable to start landing sequence");
return false;
}

5
libraries/AP_Mission/AP_Mission.h
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@ -422,6 +422,11 @@ public:
// be found. // be found.
uint16_t get_landing_sequence_start(); uint16_t get_landing_sequence_start();
// find the nearest landing sequence starting point (DO_LAND_START) and
// switch to that mission item. Returns false if no DO_LAND_START
// available.
bool jump_to_landing_sequence(void);
// user settable parameters // user settable parameters
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];