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AP_Mission: added continue after land mission option

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this allows for option to continue a mission after a landing is
complete. The default in copter was to continue, so adding this
option makes copter not continue by default. Plane already disarmed on
land complete.
This commit is contained in:
Andrew Tridgell 2020-03-04 14:28:41 +11:00 committed by Randy Mackay
parent f9b02a6814
commit 7c49723f19
2 changed files with 11 additions and 1 deletions
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2
libraries/AP_Mission/AP_Mission.cpp
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@ -27,7 +27,7 @@ const AP_Param::GroupInfo AP_Mission::var_info[] = {
// @Param: OPTIONS
// @DisplayName: Mission options bitmask
// @Description: Bitmask of what options to use in missions.
// @Bitmask: 0:Clear Mission on reboot, 1:Use distance to land calc on battery failsafe
// @Bitmask: 0:Clear Mission on reboot, 1:Use distance to land calc on battery failsafe,2:ContinueAfterLand
// @User: Advanced
AP_GROUPINFO("OPTIONS", 2, AP_Mission, _options, AP_MISSION_OPTIONS_DEFAULT),

10
libraries/AP_Mission/AP_Mission.h
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@ -39,6 +39,7 @@
#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)
@ -547,6 +548,15 @@ public:
// reset the mission history to prevent recalling previous mission histories when restarting missions.
void reset_wp_history(void);
/*
return true if MIS_OPTIONS is set to allow continue of mission
logic after a land. If this is false then after a landing is
complete the vehicle should disarm and mission logic should stop
*/
bool continue_after_land(void) const {
return (_options.get() & AP_MISSION_MASK_CONTINUE_AFTER_LAND) != 0;
}
// user settable parameters
static const struct AP_Param::GroupInfo var_info[];