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AP_Mission: Change jump_to_landing_sequence to get_landing_sequence_start

This commit is contained in:
Michael Day 2014-10-23 20:06:35 -07:00 committed by Andrew Tridgell
parent 5ddbcc296d
commit 83c2f497a3
2 changed files with 9 additions and 11 deletions
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15
libraries/AP_Mission/AP_Mission.cpp
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@ -1241,16 +1241,17 @@ uint16_t AP_Mission::num_commands_max(void) const
}
// find the nearest landing sequence starting point (DO_LAND_START) and
// switch to that mission item.
bool AP_Mission::jump_to_landing_sequence()
// return its index. Returns 0 if no appropriate DO_LAND_START point can
// be found.
uint16_t AP_Mission::get_landing_sequence_start()
{
struct Location current_loc;
if (!_ahrs.get_position(current_loc)) {
return false;
return 0;
}
int16_t landing_start_index = -1;
uint16_t landing_start_index = 0;
float min_distance = -1;
// Go through mission looking for nearest landing start command
@ -1268,10 +1269,6 @@ bool AP_Mission::jump_to_landing_sequence()
}
}
if (landing_start_index == -1) {
return false;
}
return set_current_cmd(landing_start_index);
return landing_start_index;
}

5
libraries/AP_Mission/AP_Mission.h
View File

@ -321,8 +321,9 @@ public:
uint32_t last_change_time_ms(void) const { return _last_change_time_ms; }
// find the nearest landing sequence starting point (DO_LAND_START) and
// switch to that mission item.
bool jump_to_landing_sequence();
// return its index. Returns 0 if no appropriate DO_LAND_START point can
// be found.
uint16_t get_landing_sequence_start();
// user settable parameters
static const struct AP_Param::GroupInfo var_info[];