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AP_Mission: save flash space when scripting not enabled

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This commit is contained in:
Andrew Tridgell 2022-10-19 12:59:40 +11:00
parent d832b41262
commit 41bc08e132
2 changed files with 13 additions and 0 deletions
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9
libraries/AP_Mission/AP_Mission.cpp
View File

@ -1214,6 +1214,7 @@ MAV_MISSION_RESULT AP_Mission::mavlink_int_to_mission_cmd(const mavlink_mission_
cmd.content.scripting.p3 = packet.param4;
break;
#if AP_SCRIPTING_ENABLED
case MAV_CMD_NAV_SCRIPT_TIME:
cmd.content.nav_script_time.command = packet.param1;
cmd.content.nav_script_time.timeout_s = packet.param2;
@ -1222,6 +1223,7 @@ MAV_MISSION_RESULT AP_Mission::mavlink_int_to_mission_cmd(const mavlink_mission_
cmd.content.nav_script_time.arg3 = int16_t(packet.x);
cmd.content.nav_script_time.arg4 = int16_t(packet.y);
break;
#endif
case MAV_CMD_NAV_ATTITUDE_TIME:
cmd.content.nav_attitude_time.time_sec = constrain_float(packet.param1, 0, UINT16_MAX);
@ -1708,6 +1710,7 @@ bool AP_Mission::mission_cmd_to_mavlink_int(const AP_Mission::Mission_Command& c
packet.param4 = cmd.content.scripting.p3;
break;
#if AP_SCRIPTING_ENABLED
case MAV_CMD_NAV_SCRIPT_TIME:
packet.param1 = cmd.content.nav_script_time.command;
packet.param2 = cmd.content.nav_script_time.timeout_s;
@ -1716,6 +1719,7 @@ bool AP_Mission::mission_cmd_to_mavlink_int(const AP_Mission::Mission_Command& c
packet.x = cmd.content.nav_script_time.arg3;
packet.y = cmd.content.nav_script_time.arg4;
break;
#endif
case MAV_CMD_NAV_ATTITUDE_TIME:
packet.param1 = cmd.content.nav_attitude_time.time_sec;
@ -2470,8 +2474,10 @@ const char *AP_Mission::Mission_Command::type() const
return "Jump";
case MAV_CMD_DO_GO_AROUND:
return "Go Around";
#if AP_SCRIPTING_ENABLED
case MAV_CMD_NAV_SCRIPT_TIME:
return "NavScriptTime";
#endif
case MAV_CMD_NAV_ATTITUDE_TIME:
return "NavAttitudeTime";
case MAV_CMD_DO_PAUSE_CONTINUE:
@ -2642,7 +2648,9 @@ bool AP_Mission::calc_rewind_pos(Mission_Command& rewind_cmd)
void AP_Mission::format_conversion(uint8_t tag_byte, const Mission_Command &cmd, PackedContent &packed_content) const
{
// currently only one conversion needed, more can be added
#if AP_SCRIPTING_ENABLED
if (tag_byte == 0 && cmd.id == MAV_CMD_NAV_SCRIPT_TIME) {
// PARAMETER_CONVERSION: conversion code added Oct 2022
struct nav_script_time_Command_tag0 old_fmt;
struct nav_script_time_Command new_fmt;
memcpy((void*)&old_fmt, packed_content.bytes, sizeof(old_fmt));
@ -2654,6 +2662,7 @@ void AP_Mission::format_conversion(uint8_t tag_byte, const Mission_Command &cmd,
new_fmt.arg4 = 0;
memcpy(packed_content.bytes, (void*)&new_fmt, sizeof(new_fmt));
}
#endif
}
// singleton instance

4
libraries/AP_Mission/AP_Mission.h
View File

@ -221,6 +221,7 @@ public:
float p3;
};
#if AP_SCRIPTING_ENABLED
// Scripting NAV command old version of storage format
struct PACKED nav_script_time_Command_tag0 {
uint8_t command;
@ -239,6 +240,7 @@ public:
int16_t arg3;
int16_t arg4;
};
#endif
// Scripting NAV command (with verify)
struct PACKED nav_attitude_time_Command {
@ -329,8 +331,10 @@ public:
// do scripting
scripting_Command scripting;
#if AP_SCRIPTING_ENABLED
// nav scripting
nav_script_time_Command nav_script_time;
#endif
// nav attitude time
nav_attitude_time_Command nav_attitude_time;