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AP_Mission: add error check to mission_load.lua

This commit is contained in:
Henry Wurzburg 2023-01-15 18:03:55 -06:00 committed by Andrew Tridgell
parent c8617ccf01
commit 8865d79015
2 changed files with 18 additions and 18 deletions
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33
libraries/AP_Mission/AP_Mission.cpp
View File

@ -1330,17 +1330,12 @@ MAV_MISSION_RESULT AP_Mission::convert_MISSION_ITEM_to_MISSION_ITEM_INT(const ma
any commands which use the x and y fields not as
latitude/longitude.
*/
switch (packet.command) {
case MAV_CMD_DO_DIGICAM_CONTROL:
case MAV_CMD_DO_DIGICAM_CONFIGURE:
case MAV_CMD_NAV_ATTITUDE_TIME:
case MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW:
if (!cmd_has_location(packet.command)) {
mav_cmd.x = packet.x;
mav_cmd.y = packet.y;
break;
default:
// all other commands use x and y as lat/lon. We need to
} else {
//these commands use x and y as lat/lon. We need to
// multiply by 1e7 to convert to int32_t
if (!check_lat(packet.x)) {
return MAV_MISSION_INVALID_PARAM5_X;
@ -1350,7 +1345,6 @@ MAV_MISSION_RESULT AP_Mission::convert_MISSION_ITEM_to_MISSION_ITEM_INT(const ma
}
mav_cmd.x = packet.x * 1.0e7f;
mav_cmd.y = packet.y * 1.0e7f;
break;
}
return MAV_MISSION_ACCEPTED;
@ -1373,17 +1367,12 @@ MAV_MISSION_RESULT AP_Mission::convert_MISSION_ITEM_INT_to_MISSION_ITEM(const ma
item.autocontinue = item_int.autocontinue;
item.mission_type = item_int.mission_type;
switch (item_int.command) {
case MAV_CMD_DO_DIGICAM_CONTROL:
case MAV_CMD_DO_DIGICAM_CONFIGURE:
case MAV_CMD_NAV_ATTITUDE_TIME:
case MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW:
if (!cmd_has_location(item_int.command)) {
item.x = item_int.x;
item.y = item_int.y;
break;
default:
// all other commands use x and y as lat/lon. We need to
} else {
// These commands use x and y as lat/lon. We need to
// multiply by 1e-7 to convert to float
item.x = item_int.x * 1.0e-7f;
item.y = item_int.y * 1.0e-7f;
@ -1393,7 +1382,6 @@ MAV_MISSION_RESULT AP_Mission::convert_MISSION_ITEM_INT_to_MISSION_ITEM(const ma
if (!check_lng(item.y)) {
return MAV_MISSION_INVALID_PARAM6_Y;
}
break;
}
return MAV_MISSION_ACCEPTED;
@ -2517,6 +2505,15 @@ bool AP_Mission::contains_item(MAV_CMD command) const
return false;
}
/*
return true if the mission item has a location
*/
bool AP_Mission::cmd_has_location(const uint16_t command)
{
return stored_in_location(command);
}
/*
return true if the mission has a terrain relative item. ~2200us for 530 items on H7
*/

3
libraries/AP_Mission/AP_Mission.h
View File

@ -634,6 +634,9 @@ public:
// returns true if the mission has a terrain relative mission item
bool contains_terrain_alt_items(void);
// returns true if the mission cmd has a location
static bool cmd_has_location(const uint16_t command);
// reset the mission history to prevent recalling previous mission histories when restarting missions.
void reset_wp_history(void);