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WIP: adding 255 to represent a completed mission

This commit is contained in:
Jason Short 2011-11-12 21:40:33 -08:00
parent fd02ebca74
commit d6bfae598f
1 changed files with 23 additions and 4 deletions
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27
ArduCopter/commands_process.pde
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@ -20,16 +20,34 @@ static void change_command(uint8_t cmd_index)
// --------------------
static void update_commands(void)
{
// A: if we do not have any commands there is nothing to do
// B: We have completed the mission, don't redo the mission
if (g.command_total <= 1 || g.command_index == 255)
return;
// fill command queue with a new command if available
if(next_command.id == NO_COMMAND){
// fetch next command if the next command queue is empty
// -----------------------------------------------------
if (g.command_index < g.command_total) {
// only if we have a cmd stored in EEPROM
/*
range check - don't grab a command that isn't there
0 : home command
1 : first WP
2 : seconds WP
3 : third WP
current g.command_index = 2,
Now load index 3
if(2 < (4-1))
if (2 < 3)
OK we can safely load the next index 3
*/
if (g.command_index < (g.command_total -1)) {
// load next index
next_command = get_cmd_with_index(g.command_index + 1);
//Serial.printf("queue CMD %d\n", next_command.id);
}
}
@ -39,8 +57,9 @@ static void update_commands(void)
// And we have no nav commands
// --------------------------------------------
if (command_must_ID == NO_COMMAND){
gcs_send_text_P(SEVERITY_LOW,PSTR("out of commands!"));
gcs_send_text_P(SEVERITY_LOW,PSTR("mission complete"));
handle_no_commands();
g.command_index = 255;
}
}