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AP_Mission: add restart_current_nav_cmd

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This commit is contained in:
Randy Mackay 2021-03-06 10:26:40 +09:00
parent 2357568eb1
commit e24f23e076
2 changed files with 22 additions and 0 deletions
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18
libraries/AP_Mission/AP_Mission.cpp
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@ -517,6 +517,24 @@ bool AP_Mission::set_current_cmd(uint16_t index, bool rewind)
return true; return true;
} }
// restart current navigation command. Used to handle external changes to mission
// returns true on success, false if mission is not running or current nav command is invalid
bool AP_Mission::restart_current_nav_cmd()
{
// return immediately if mission is not running
if (_flags.state != MISSION_RUNNING) {
return false;
}
// return immediately if nav command index is invalid
const uint16_t nav_cmd_index = get_current_nav_index();
if ((nav_cmd_index == 0) || (nav_cmd_index >= num_commands())) {
return false;
}
return set_current_cmd(_nav_cmd.index);
}
// returns false on any issue at all. // returns false on any issue at all.
bool AP_Mission::set_item(uint16_t index, mavlink_mission_item_int_t& src_packet) bool AP_Mission::set_item(uint16_t index, mavlink_mission_item_int_t& src_packet)
{ {

4
libraries/AP_Mission/AP_Mission.h
View File

@ -494,6 +494,10 @@ public:
// set_current_cmd - jumps to command specified by index // set_current_cmd - jumps to command specified by index
bool set_current_cmd(uint16_t index, bool rewind = false); bool set_current_cmd(uint16_t index, bool rewind = false);
// restart current navigation command. Used to handle external changes to mission
// returns true on success, false if current nav command has been deleted
bool restart_current_nav_cmd();
/// load_cmd_from_storage - load command from storage /// load_cmd_from_storage - load command from storage
/// true is return if successful /// true is return if successful
bool read_cmd_from_storage(uint16_t index, Mission_Command& cmd) const; bool read_cmd_from_storage(uint16_t index, Mission_Command& cmd) const;