Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-28 19:48:31 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Mission: add check_takeoff_cmd

Browse Source 
This checks that the first command in the mission is a takeoff command which helps avoid mission setup errors in which users forget to start a mission with a takeoff command
This commit is contained in:
Niti Rohilla 2016-05-19 19:35:42 +09:00 committed by Randy Mackay
parent 1f4ba62456
commit 9ec0000691
2 changed files with 25 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

24
libraries/AP_Mission/AP_Mission.cpp
View File

@ -113,6 +113,30 @@ void AP_Mission::resume()
}
}
// return false if next command in the mission is not takeoff
bool AP_Mission::check_takeoff_cmd()
{
Mission_Command cmd = {};
uint16_t cmd_index;
// get starting point for search or Reset cmd_index, if _restart is set
cmd_index = _restart ? AP_MISSION_CMD_INDEX_NONE : _nav_cmd.index;
if (cmd_index == AP_MISSION_CMD_INDEX_NONE) {
// start from beginning of the mission command list
cmd_index = AP_MISSION_FIRST_REAL_COMMAND;
get_next_cmd(cmd_index, cmd, true);
} else {
read_cmd_from_storage(cmd_index, cmd);
}
if (cmd.id != MAV_CMD_NAV_TAKEOFF) {
return false;
}
return true;
}
/// start_or_resume - if MIS_AUTORESTART=0 this will call resume(), otherwise it will call start()
void AP_Mission::start_or_resume()
{

1
libraries/AP_Mission/AP_Mission.h
View File

@ -304,6 +304,7 @@ public:
/// start_or_resume - if MIS_AUTORESTART=0 this will call resume(), otherwise it will call start()
void start_or_resume();
bool check_takeoff_cmd();
/// reset - reset mission to the first command
void reset();