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AP_Mission: support NAV_SCRIPT_TIME

This commit is contained in:
Andrew Tridgell 2021-10-25 14:59:11 +11:00
parent 91fe254dad
commit ca00eceb98
2 changed files with 31 additions and 2 deletions
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22
libraries/AP_Mission/AP_Mission.cpp
View File

@ -406,8 +406,10 @@ bool AP_Mission::replace_cmd(uint16_t index, const Mission_Command& cmd)
/// is_nav_cmd - returns true if the command's id is a "navigation" command, false if "do" or "conditional" command /// is_nav_cmd - returns true if the command's id is a "navigation" command, false if "do" or "conditional" command
bool AP_Mission::is_nav_cmd(const Mission_Command& cmd) bool AP_Mission::is_nav_cmd(const Mission_Command& cmd)
{ {
// NAV commands all have ids below MAV_CMD_NAV_LAST except NAV_SET_YAW_SPEED // NAV commands all have ids below MAV_CMD_NAV_LAST, plus some exceptions
return (cmd.id <= MAV_CMD_NAV_LAST || cmd.id == MAV_CMD_NAV_SET_YAW_SPEED); return (cmd.id <= MAV_CMD_NAV_LAST ||
cmd.id == MAV_CMD_NAV_SET_YAW_SPEED ||
cmd.id == MAV_CMD_NAV_SCRIPT_TIME);
} }
/// get_next_nav_cmd - gets next "navigation" command found at or after start_index /// get_next_nav_cmd - gets next "navigation" command found at or after start_index
@ -1158,6 +1160,13 @@ MAV_MISSION_RESULT AP_Mission::mavlink_int_to_mission_cmd(const mavlink_mission_
cmd.content.scripting.p3 = packet.param4; cmd.content.scripting.p3 = packet.param4;
break; break;
case MAV_CMD_NAV_SCRIPT_TIME:
cmd.content.nav_script_time.command = packet.param1;
cmd.content.nav_script_time.timeout_s = packet.param2;
cmd.content.nav_script_time.arg1 = packet.param3;
cmd.content.nav_script_time.arg2 = packet.param4;
break;
default: default:
// unrecognised command // unrecognised command
return MAV_MISSION_UNSUPPORTED; return MAV_MISSION_UNSUPPORTED;
@ -1610,6 +1619,13 @@ bool AP_Mission::mission_cmd_to_mavlink_int(const AP_Mission::Mission_Command& c
packet.param4 = cmd.content.scripting.p3; packet.param4 = cmd.content.scripting.p3;
break; break;
case MAV_CMD_NAV_SCRIPT_TIME:
packet.param1 = cmd.content.nav_script_time.command;
packet.param2 = cmd.content.nav_script_time.timeout_s;
packet.param3 = cmd.content.nav_script_time.arg1;
packet.param4 = cmd.content.nav_script_time.arg2;
break;
default: default:
// unrecognised command // unrecognised command
return false; return false;
@ -2328,6 +2344,8 @@ const char *AP_Mission::Mission_Command::type() const
return "Jump"; return "Jump";
case MAV_CMD_DO_GO_AROUND: case MAV_CMD_DO_GO_AROUND:
return "Go Around"; return "Go Around";
case MAV_CMD_NAV_SCRIPT_TIME:
return "NavScriptTime";
default: default:
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL

11
libraries/AP_Mission/AP_Mission.h
View File

@ -221,6 +221,14 @@ public:
float p3; float p3;
}; };
// Scripting NAV command (with verify)
struct PACKED nav_script_time_Command {
uint8_t command;
uint8_t timeout_s;
float arg1;
float arg2;
};
union Content { union Content {
// jump structure // jump structure
Jump_Command jump; Jump_Command jump;
@ -291,6 +299,9 @@ public:
// do scripting // do scripting
scripting_Command scripting; scripting_Command scripting;
// nav scripting
nav_script_time_Command nav_script_time;
// location // location
Location location{}; // Waypoint location Location location{}; // Waypoint location
}; };