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Rover: resetting reversed flag more generally

This commit is contained in:
robot-to-society 2024-06-17 15:03:10 +09:00 committed by Peter Barker
parent b93ba1ae68
commit 49ba800f88
2 changed files with 12 additions and 1 deletions
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3
Rover/mode.cpp
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@ -44,7 +44,8 @@ bool Mode::enter()
// initialisation common to all modes // initialisation common to all modes
if (ret) { if (ret) {
set_reversed(false); // init reversed flag
init_reversed_flag();
// clear sailboat tacking flags // clear sailboat tacking flags
g2.sailboat.clear_tack(); g2.sailboat.clear_tack();

10
Rover/mode.h
View File

@ -124,6 +124,9 @@ public:
// execute the mission in reverse (i.e. backing up) // execute the mission in reverse (i.e. backing up)
void set_reversed(bool value); void set_reversed(bool value);
// init reversed flag for autopilot mode
virtual void init_reversed_flag() { if (is_autopilot_mode()) { set_reversed(false); } }
// handle tacking request (from auxiliary switch) in sailboats // handle tacking request (from auxiliary switch) in sailboats
virtual void handle_tack_request(); virtual void handle_tack_request();
@ -277,6 +280,13 @@ public:
bool nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2, int16_t &arg3, int16_t &arg4); bool nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2, int16_t &arg3, int16_t &arg4);
void nav_script_time_done(uint16_t id); void nav_script_time_done(uint16_t id);
//
void init_reversed_flag() override {
if (!mission.is_resume()) {
set_reversed(false);
}
}
AP_Mission mission{ AP_Mission mission{
FUNCTOR_BIND_MEMBER(&ModeAuto::start_command, bool, const AP_Mission::Mission_Command&), FUNCTOR_BIND_MEMBER(&ModeAuto::start_command, bool, const AP_Mission::Mission_Command&),
FUNCTOR_BIND_MEMBER(&ModeAuto::verify_command_callback, bool, const AP_Mission::Mission_Command&), FUNCTOR_BIND_MEMBER(&ModeAuto::verify_command_callback, bool, const AP_Mission::Mission_Command&),