Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Mission: Cleanup the header to reduce flash cost

Browse Source 
Removes unneeded set's of memory that is already zero'd. It also changes
_flags to be all bool to match the actual usage, and removes the width
specifiers from them. This increases the RAM cost of AP_Mission by 4
bytes, but saves on flash. The RAM cost was eliminated by rearranging
members.
This commit is contained in:
Michael du Breuil 2021-06-17 11:00:38 -07:00 committed by Andrew Tridgell
parent b2d2c6db69
commit 9e989bfd44
1 changed files with 13 additions and 23 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

36
libraries/AP_Mission/AP_Mission.h
View File

@ -316,8 +316,7 @@ public:
_mission_complete_fn(mission_complete_fn), _mission_complete_fn(mission_complete_fn),
_prev_nav_cmd_id(AP_MISSION_CMD_ID_NONE), _prev_nav_cmd_id(AP_MISSION_CMD_ID_NONE),
_prev_nav_cmd_index(AP_MISSION_CMD_INDEX_NONE), _prev_nav_cmd_index(AP_MISSION_CMD_INDEX_NONE),
_prev_nav_cmd_wp_index(AP_MISSION_CMD_INDEX_NONE), _prev_nav_cmd_wp_index(AP_MISSION_CMD_INDEX_NONE)
_last_change_time_ms(0)
{ {
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
if (_singleton != nullptr) { if (_singleton != nullptr) {
@ -332,14 +331,6 @@ public:
// clear commands // clear commands
_nav_cmd.index = AP_MISSION_CMD_INDEX_NONE; _nav_cmd.index = AP_MISSION_CMD_INDEX_NONE;
_do_cmd.index = AP_MISSION_CMD_INDEX_NONE; _do_cmd.index = AP_MISSION_CMD_INDEX_NONE;
// initialise other internal variables
_flags.state = MISSION_STOPPED;
_flags.nav_cmd_loaded = false;
_flags.do_cmd_loaded = false;
_flags.in_landing_sequence = false;
_flags.resuming_mission = false;
_force_resume = false;
} }
// get singleton instance // get singleton instance
@ -609,11 +600,11 @@ private:
struct Mission_Flags { struct Mission_Flags {
mission_state state; mission_state state;
uint8_t nav_cmd_loaded : 1; // true if a "navigation" command has been loaded into _nav_cmd bool nav_cmd_loaded; // true if a "navigation" command has been loaded into _nav_cmd
uint8_t do_cmd_loaded : 1; // true if a "do"/"conditional" command has been loaded into _do_cmd bool do_cmd_loaded; // true if a "do"/"conditional" command has been loaded into _do_cmd
uint8_t do_cmd_all_done : 1; // true if all "do"/"conditional" commands have been completed (stops unnecessary searching through eeprom for do commands) bool do_cmd_all_done; // true if all "do"/"conditional" commands have been completed (stops unnecessary searching through eeprom for do commands)
bool in_landing_sequence : 1; // true if the mission has jumped to a landing bool in_landing_sequence; // true if the mission has jumped to a landing
bool resuming_mission : 1; // true if the mission is resuming and set false once the aircraft attains the interrupted WP bool resuming_mission; // true if the mission is resuming and set false once the aircraft attains the interrupted WP
} _flags; } _flags;
// mission WP resume history // mission WP resume history
@ -685,24 +676,25 @@ private:
/// sanity checks that the masked fields are not NaN's or infinite /// sanity checks that the masked fields are not NaN's or infinite
static MAV_MISSION_RESULT sanity_check_params(const mavlink_mission_item_int_t& packet); static MAV_MISSION_RESULT sanity_check_params(const mavlink_mission_item_int_t& packet);
// parameters
AP_Int16 _cmd_total; // total number of commands in the mission
AP_Int8 _restart; // controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)
AP_Int16 _options; // bitmask options for missions, currently for mission clearing on reboot but can be expanded as required
// pointer to main program functions // pointer to main program functions
mission_cmd_fn_t _cmd_start_fn; // pointer to function which will be called when a new command is started mission_cmd_fn_t _cmd_start_fn; // pointer to function which will be called when a new command is started
mission_cmd_fn_t _cmd_verify_fn; // pointer to function which will be called repeatedly to ensure a command is progressing mission_cmd_fn_t _cmd_verify_fn; // pointer to function which will be called repeatedly to ensure a command is progressing
mission_complete_fn_t _mission_complete_fn; // pointer to function which will be called when mission completes mission_complete_fn_t _mission_complete_fn; // pointer to function which will be called when mission completes
// parameters
AP_Int16 _cmd_total; // total number of commands in the mission
AP_Int16 _options; // bitmask options for missions, currently for mission clearing on reboot but can be expanded as required
AP_Int8 _restart; // controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)
// internal variables // internal variables
bool _force_resume; // when set true it forces mission to resume irrespective of MIS_RESTART param.
uint16_t _repeat_dist; // Distance to repeat on mission resume (m), can be set with MAV_CMD_DO_SET_RESUME_REPEAT_DIST
struct Mission_Command _nav_cmd; // current "navigation" command. It's position in the command list is held in _nav_cmd.index struct Mission_Command _nav_cmd; // current "navigation" command. It's position in the command list is held in _nav_cmd.index
struct Mission_Command _do_cmd; // current "do" command. It's position in the command list is held in _do_cmd.index struct Mission_Command _do_cmd; // current "do" command. It's position in the command list is held in _do_cmd.index
struct Mission_Command _resume_cmd; // virtual wp command that is used to resume mission if the mission needs to be rewound on resume. struct Mission_Command _resume_cmd; // virtual wp command that is used to resume mission if the mission needs to be rewound on resume.
uint16_t _prev_nav_cmd_id; // id of the previous "navigation" command. (WAYPOINT, LOITER_TO_ALT, ect etc) uint16_t _prev_nav_cmd_id; // id of the previous "navigation" command. (WAYPOINT, LOITER_TO_ALT, ect etc)
uint16_t _prev_nav_cmd_index; // index of the previous "navigation" command. Rarely used which is why we don't store the whole command uint16_t _prev_nav_cmd_index; // index of the previous "navigation" command. Rarely used which is why we don't store the whole command
uint16_t _prev_nav_cmd_wp_index; // index of the previous "navigation" command that contains a waypoint. Rarely used which is why we don't store the whole command uint16_t _prev_nav_cmd_wp_index; // index of the previous "navigation" command that contains a waypoint. Rarely used which is why we don't store the whole command
bool _force_resume; // when set true it forces mission to resume irrespective of MIS_RESTART param.
struct Location _exit_position; // the position in the mission that the mission was exited struct Location _exit_position; // the position in the mission that the mission was exited
// jump related variables // jump related variables
@ -714,8 +706,6 @@ private:
// last time that mission changed // last time that mission changed
uint32_t _last_change_time_ms; uint32_t _last_change_time_ms;
// Distance to repeat on mission resume (m), can be set with MAV_CMD_DO_SET_RESUME_REPEAT_DIST
uint16_t _repeat_dist;
// multi-thread support. This is static so it can be used from // multi-thread support. This is static so it can be used from
// const functions // const functions