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AP_Mission: Added force resume for when MIS_RESTART=1

This commit is contained in:
Gone4Dirt 2020-02-23 09:52:57 +00:00 committed by Andrew Tridgell
parent 3b25a8ae2e
commit d813a70c8d
2 changed files with 7 additions and 1 deletions
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3
libraries/AP_Mission/AP_Mission.cpp
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@ -163,10 +163,11 @@ bool AP_Mission::starts_with_takeoff_cmd()
/// start_or_resume - if MIS_AUTORESTART=0 this will call resume(), otherwise it will call start() /// start_or_resume - if MIS_AUTORESTART=0 this will call resume(), otherwise it will call start()
void AP_Mission::start_or_resume() void AP_Mission::start_or_resume()
{ {
if (_restart) { if (_restart == 1 && !_force_resume) {
start(); start();
} else { } else {
resume(); resume();
_force_resume = false;
} }
} }

5
libraries/AP_Mission/AP_Mission.h
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@ -305,6 +305,7 @@ public:
_flags.nav_cmd_loaded = false; _flags.nav_cmd_loaded = false;
_flags.do_cmd_loaded = false; _flags.do_cmd_loaded = false;
_flags.in_landing_sequence = false; _flags.in_landing_sequence = false;
_force_resume = false;
} }
// get singleton instance // get singleton instance
@ -479,6 +480,9 @@ public:
// set in_landing_sequence flag // set in_landing_sequence flag
void set_in_landing_sequence_flag(bool flag) { _flags.in_landing_sequence = flag; } void set_in_landing_sequence_flag(bool flag) { _flags.in_landing_sequence = flag; }
// force mission to resume when start_or_resume() is called
void set_force_resume(bool force_resume) { _force_resume = force_resume; }
// get a reference to the AP_Mission semaphore, allowing an external caller to lock the // get a reference to the AP_Mission semaphore, allowing an external caller to lock the
// storage while working with multiple waypoints // storage while working with multiple waypoints
HAL_Semaphore &get_semaphore(void) { HAL_Semaphore &get_semaphore(void) {
@ -582,6 +586,7 @@ private:
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.
// jump related variables // jump related variables
struct jump_tracking_struct { struct jump_tracking_struct {