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Mission Scripting updates

This commit is contained in:
Jason Short 2011-11-16 00:21:12 -08:00
parent 833fe17c6a
commit ddd89e1849
2 changed files with 17 additions and 15 deletions
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8
ArduCopter/commands_logic.pde
View File

@ -453,7 +453,7 @@ static bool verify_loiter_time()
static bool verify_loiter_turns()
{
Serial.printf("loiter_sum: %d \n", loiter_sum);
//Serial.printf("loiter_sum: %d \n", loiter_sum);
// have we rotated around the center enough times?
// -----------------------------------------------
if(abs(loiter_sum) > loiter_total) {
@ -582,7 +582,7 @@ static bool verify_wait_delay()
static bool verify_change_alt()
{
Serial.printf("change_alt, ca:%d, na:%d\n", (int)current_loc.alt, (int)next_WP.alt);
//Serial.printf("change_alt, ca:%d, na:%d\n", (int)current_loc.alt, (int)next_WP.alt);
if (condition_start < next_WP.alt){
// we are going higer
if(current_loc.alt > next_WP.alt){
@ -601,7 +601,7 @@ static bool verify_change_alt()
static bool verify_within_distance()
{
Serial.printf("cond dist :%d\n", (int)condition_value);
//Serial.printf("cond dist :%d\n", (int)condition_value);
if (wp_distance < condition_value){
condition_value = 0;
return true;
@ -611,7 +611,7 @@ static bool verify_within_distance()
static bool verify_yaw()
{
Serial.printf("vyaw %d\n", (int)(nav_yaw/100));
//Serial.printf("vyaw %d\n", (int)(nav_yaw/100));
if((millis() - command_yaw_start_time) > command_yaw_time){
// time out

24
ArduPlane/commands_process.pde
View File

@ -16,8 +16,8 @@ static void change_command(uint8_t cmd_index)
non_nav_command_ID = NO_COMMAND;
nav_command_index = cmd_index - 1;
g.command_index.set_and_save(cmd_index - 1);
process_next_command();
g.command_index.set_and_save(cmd_index);
update_commands();
}
}
@ -25,23 +25,21 @@ static void change_command(uint8_t cmd_index)
// --------------------
static void update_commands(void)
{
if(home_is_set == false){
return; // don't do commands
}
if(control_mode == AUTO){
process_next_command();
if(home_is_set == true && g.command_total > 1){
process_next_command();
}
} // Other (eg GCS_Auto) modes may be implemented here
}
static void verify_commands(void)
{
if(verify_nav_command()){
nav_command_ID = NO_COMMAND;
nav_command_ID = NO_COMMAND;
}
if(verify_condition_command()){
non_nav_command_ID = NO_COMMAND;
non_nav_command_ID = NO_COMMAND;
}
}
@ -63,7 +61,9 @@ static void process_next_command()
nav_command_index++;
temp = get_cmd_with_index(nav_command_index);
}
gcs_send_text_fmt(PSTR("Nav command index updated to #%i"),nav_command_index);
if(nav_command_index > g.command_total){
// we are out of commands!
gcs_send_text_P(SEVERITY_LOW,PSTR("out of commands!"));
@ -99,12 +99,14 @@ static void process_next_command()
g.command_index.set_and_save(nav_command_index);
non_nav_command_index = nav_command_index;
non_nav_command_ID = WAIT_COMMAND;
gcs_send_text_fmt(PSTR("Non-Nav command ID updated to #%i"),non_nav_command_ID);
gcs_send_text_fmt(PSTR("Non-Nav command ID updated to #%i"),non_nav_command_ID);
} else { // The next command is a non-nav command. Prepare to execute it.
g.command_index.set_and_save(non_nav_command_index);
next_nonnav_command = temp;
non_nav_command_ID = next_nonnav_command.id;
gcs_send_text_fmt(PSTR("Non-Nav command ID updated to #%i"),non_nav_command_ID);
gcs_send_text_fmt(PSTR("Non-Nav command ID updated to #%i"),non_nav_command_ID);
if (g.log_bitmask & MASK_LOG_CMD) {
Log_Write_Cmd(g.command_index, &next_nonnav_command);
}