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AP_Mission: added get_current_nav_index() function

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this will return 0 when there is no current command, which is what is
expected in MAVLink when there is no mission

(it prevents the text to speech announcing "65 thousand 6 hundred and
thirty five", which is quite annoying!)
This commit is contained in:
Andrew Tridgell 2014-04-22 11:37:53 +10:00
parent 96173bfb8a
commit e10542dcae
1 changed files with 7 additions and 1 deletions
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8
libraries/AP_Mission/AP_Mission.h
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@ -241,9 +241,15 @@ public:
/// 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
static bool is_nav_cmd(const Mission_Command& cmd); static bool is_nav_cmd(const Mission_Command& cmd);
/// get_active_nav_cmd - returns the current "navigation" command /// get_current_nav_cmd - returns the current "navigation" command
const Mission_Command& get_current_nav_cmd() const { return _nav_cmd; } const Mission_Command& get_current_nav_cmd() const { return _nav_cmd; }
/// get_current_nav_index - returns the current "navigation" command index
/// Note that this will return 0 if there is no command. This is
/// used in MAVLink reporting of the mission command
uint16_t get_current_nav_index() const {
return _nav_cmd.index==AP_MISSION_CMD_INDEX_NONE?0:_nav_cmd.index; }
/// get_prev_nav_cmd_index - returns the previous "navigation" commands index (i.e. position in the mission command list) /// get_prev_nav_cmd_index - returns the previous "navigation" commands index (i.e. position in the mission command list)
/// if there was no previous nav command it returns AP_MISSION_CMD_INDEX_NONE /// if there was no previous nav command it returns AP_MISSION_CMD_INDEX_NONE
/// we do not return the entire command to save on RAM /// we do not return the entire command to save on RAM