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Rover: MIS_DONE_BEHAVE parameter to choose mode after mission done

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This commit is contained in:
TsuyoshiKawamura 2018-11-09 01:14:45 +09:00 committed by Randy Mackay
parent f4cf4c7fa2
commit ba0926e101
4 changed files with 22 additions and 0 deletions
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7
APMrover2/Parameters.cpp
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@ -663,6 +663,13 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @Path: ../libraries/AP_Airspeed/AP_Airspeed.cpp // @Path: ../libraries/AP_Airspeed/AP_Airspeed.cpp
AP_SUBGROUPINFO(airspeed, "ARSPD", 37, ParametersG2, AP_Airspeed), AP_SUBGROUPINFO(airspeed, "ARSPD", 37, ParametersG2, AP_Airspeed),
// @Param: MIS_DONE_BEHAVE
// @DisplayName: Mission done behave
// @Description: Mode to become after mission done
// @Values: 0:Hold,1:Loiter
// @User: Standard
AP_GROUPINFO("MIS_DONE_BEHAVE", 38, ParametersG2, mis_done_behave, 0),
AP_GROUPEND AP_GROUPEND
}; };

3
APMrover2/Parameters.h
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@ -384,6 +384,9 @@ public:
// Airspeed // Airspeed
AP_Airspeed airspeed; AP_Airspeed airspeed;
// mission behave
AP_Int8 mis_done_behave;
}; };
extern const AP_Param::Info var_info[]; extern const AP_Param::Info var_info[];

5
APMrover2/Rover.h
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@ -437,6 +437,11 @@ private:
void do_set_home(const AP_Mission::Mission_Command& cmd); void do_set_home(const AP_Mission::Mission_Command& cmd);
void do_set_reverse(const AP_Mission::Mission_Command& cmd); void do_set_reverse(const AP_Mission::Mission_Command& cmd);
enum Mis_Done_Behave {
MIS_DONE_BEHAVE_HOLD = 0,
MIS_DONE_BEHAVE_LOITER = 1
};
// commands.cpp // commands.cpp
void update_home_from_EKF(); void update_home_from_EKF();
bool set_home_to_current_location(bool lock); bool set_home_to_current_location(bool lock);

7
APMrover2/commands_logic.cpp
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@ -104,7 +104,14 @@ bool Rover::start_command(const AP_Mission::Mission_Command& cmd)
// exit_mission - callback function called from ap-mission when the mission has completed // exit_mission - callback function called from ap-mission when the mission has completed
void Rover::exit_mission() void Rover::exit_mission()
{ {
// play a tone
AP_Notify::events.mission_complete = 1;
// send message
gcs().send_text(MAV_SEVERITY_NOTICE, "Mission Complete"); gcs().send_text(MAV_SEVERITY_NOTICE, "Mission Complete");
if (g2.mis_done_behave == MIS_DONE_BEHAVE_LOITER && set_mode(mode_loiter, MODE_REASON_MISSION_END)) {
return;
}
set_mode(mode_hold, MODE_REASON_MISSION_END); set_mode(mode_hold, MODE_REASON_MISSION_END);
} }