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Mission: add replace_cmd method

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This commit is contained in:
Randy Mackay 2014-03-01 11:12:41 +09:00
parent 54c99d84ea
commit 61cc5e6b72
2 changed files with 20 additions and 1 deletions
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14
libraries/AP_Mission/AP_Mission.cpp
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@ -164,6 +164,20 @@ bool AP_Mission::add_cmd(Mission_Command& cmd)
return ret;
}
/// replace_cmd - replaces the command at position 'index' in the command list with the provided cmd
/// replacing the current active command will have no effect until the command is restarted
/// returns true if successfully replaced, false on failure
bool AP_Mission::replace_cmd(uint16_t index, Mission_Command& cmd)
{
// sanity check index
if (index >= _cmd_total) {
return false;
}
// attempt to write the command to storage
return write_cmd_to_storage(index, cmd);
}
/// is_nav_cmd - returns true if the command's id is a "navigation" command, false if "do" or "conditional" command
bool AP_Mission::is_nav_cmd(const Mission_Command& cmd)
{

7
libraries/AP_Mission/AP_Mission.h
View File

@ -138,6 +138,11 @@ public:
/// cmd.index is updated with it's new position in the mission
bool add_cmd(Mission_Command& cmd);
/// replace_cmd - replaces the command at position 'index' in the command list with the provided cmd
/// replacing the current active command will have no effect until the command is restarted
/// returns true if successfully replaced, false on failure
bool replace_cmd(uint16_t index, Mission_Command& cmd);
/// is_nav_cmd - returns true if the command's id is a "navigation" command, false if "do" or "conditional" command
static bool is_nav_cmd(const Mission_Command& cmd);
@ -153,7 +158,7 @@ public:
/// accounts for do_jump commands
bool get_next_nav_cmd(uint16_t start_index, Mission_Command& cmd);
/// get_active_do_cmd - returns active "do" command
/// get_current_do_cmd - returns active "do" command
const Mission_Command& get_current_do_cmd() const { return _do_cmd; }
// set_current_cmd - jumps to command specified by index