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Mission: command index increase to int16

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Once more eeprom space is allocated this will allow more than 255
commands
This commit is contained in:
Randy Mackay 2014-02-28 21:49:37 +09:00
parent 92738533fe
commit 0c92d60406
2 changed files with 21 additions and 21 deletions
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20
libraries/AP_Mission/AP_Mission.cpp
View File

@ -172,9 +172,9 @@ bool AP_Mission::is_nav_cmd(const Mission_Command& cmd)
/// get_next_nav_cmd - gets next "navigation" command found at or after start_index
/// returns true if found, false if not found (i.e. reached end of mission command list)
/// accounts for do_jump commands but never increments the jump's num_times_run (advance_current_nav_cmd is responsible for this)
bool AP_Mission::get_next_nav_cmd(uint8_t start_index, Mission_Command& cmd)
bool AP_Mission::get_next_nav_cmd(uint16_t start_index, Mission_Command& cmd)
{
uint8_t cmd_index = start_index;
uint16_t cmd_index = start_index;
Mission_Command temp_cmd;
// search until the end of the mission command list
@ -201,7 +201,7 @@ bool AP_Mission::get_next_nav_cmd(uint8_t start_index, Mission_Command& cmd)
/// load_cmd_from_storage - load command from storage
/// true is return if successful
bool AP_Mission::read_cmd_from_storage(uint8_t index, Mission_Command& cmd) const
bool AP_Mission::read_cmd_from_storage(uint16_t index, Mission_Command& cmd) const
{
uint16_t pos_in_storage; // position in storage from where we will read the next byte
@ -255,7 +255,7 @@ bool AP_Mission::read_cmd_from_storage(uint8_t index, Mission_Command& cmd) cons
/// write_cmd_to_storage - write a command to storage
/// index is used to calculate the storage location
/// true is returned if successful
bool AP_Mission::write_cmd_to_storage(uint8_t index, Mission_Command& cmd)
bool AP_Mission::write_cmd_to_storage(uint16_t index, Mission_Command& cmd)
{
// range check cmd's index
if (index >= AP_MISSION_MAX_COMMANDS) {
@ -612,7 +612,7 @@ void AP_Mission::complete()
bool AP_Mission::advance_current_nav_cmd()
{
Mission_Command cmd;
uint8_t cmd_index;
uint16_t cmd_index;
// exit immediately if we're not running
if (_flags.state != MISSION_RUNNING) {
@ -673,7 +673,7 @@ bool AP_Mission::advance_current_nav_cmd()
void AP_Mission::advance_current_do_cmd()
{
Mission_Command cmd;
uint8_t cmd_index;
uint16_t cmd_index;
// exit immediately if we're not running
if (_flags.state != MISSION_RUNNING) {
@ -710,11 +710,11 @@ void AP_Mission::advance_current_do_cmd()
/// returns true if found, false if not found (i.e. mission complete)
/// accounts for do_jump commands
/// increment_jump_num_times_if_found should be set to true if advancing the active navigation command
bool AP_Mission::get_next_cmd(uint8_t start_index, Mission_Command& cmd, bool increment_jump_num_times_if_found)
bool AP_Mission::get_next_cmd(uint16_t start_index, Mission_Command& cmd, bool increment_jump_num_times_if_found)
{
uint8_t cmd_index = start_index;
uint16_t cmd_index = start_index;
Mission_Command temp_cmd;
uint8_t jump_index = AP_MISSION_CMD_INDEX_NONE;
uint16_t jump_index = AP_MISSION_CMD_INDEX_NONE;
// search until the end of the mission command list
while(cmd_index < _cmd_total) {
@ -776,7 +776,7 @@ bool AP_Mission::get_next_cmd(uint8_t start_index, Mission_Command& cmd, bool in
/// returns true if found, false if not found
/// stops and returns false if it hits another navigation command before it finds the first do or conditional command
/// accounts for do_jump commands but never increments the jump's num_times_run (advance_current_nav_cmd is responsible for this)
bool AP_Mission::get_next_do_cmd(uint8_t start_index, Mission_Command& cmd)
bool AP_Mission::get_next_do_cmd(uint16_t start_index, Mission_Command& cmd)
{
Mission_Command temp_cmd;

22
libraries/AP_Mission/AP_Mission.h
View File

@ -35,8 +35,8 @@
#define AP_MISSION_JUMP_REPEAT_FOREVER -1 // when do-jump command's repeat count is -1 this means endless repeat
#define AP_MISSION_CMD_ID_NONE 0 // mavlink cmd id of zero means invalid or missing command
#define AP_MISSION_CMD_INDEX_NONE 255 // command index of 255 means invalid or missing command
#define AP_MISSION_JUMP_TIMES_MAX 255 // maximum number of times a jump can be executed. Used when jump tracking fails (i.e. when too many jumps in mission)
#define AP_MISSION_CMD_INDEX_NONE 65535 // command index of 65535 means invalid or missing command
#define AP_MISSION_JUMP_TIMES_MAX 32767 // maximum number of times a jump can be executed. Used when jump tracking fails (i.e. when too many jumps in mission)
#define AP_MISSION_FIRST_REAL_COMMAND 1 // command #0 reserved to hold home position
@ -49,7 +49,7 @@ public:
// jump command structure
struct Jump_Command {
uint8_t id; // mavlink command id. To-Do: this can be removed once it is also removed from Location structure
uint8_t target; // DO_JUMP target command id
uint16_t target; // DO_JUMP target command id
int16_t num_times; // DO_JUMP num times to repeat. -1 = repeat forever
};
@ -63,7 +63,7 @@ public:
// command structure
struct Mission_Command {
uint8_t index; // this commands position in the command list
uint16_t index; // this commands position in the command list
uint8_t id; // mavlink command id
Content content;
};
@ -151,7 +151,7 @@ public:
/// get_next_nav_cmd - gets next "navigation" command found at or after start_index
/// returns true if found, false if not found (i.e. reached end of mission command list)
/// accounts for do_jump commands
bool get_next_nav_cmd(uint8_t start_index, Mission_Command& cmd);
bool get_next_nav_cmd(uint16_t start_index, Mission_Command& cmd);
/// get_active_do_cmd - returns active "do" command
const Mission_Command& get_current_do_cmd() const { return _do_cmd; }
@ -162,12 +162,12 @@ public:
/// load_cmd_from_storage - load command from storage
/// true is return if successful
bool read_cmd_from_storage(uint8_t index, Mission_Command& cmd) const;
bool read_cmd_from_storage(uint16_t index, Mission_Command& cmd) const;
/// write_cmd_to_storage - write a command to storage
/// cmd.index is used to calculate the storage location
/// true is returned if successful
bool write_cmd_to_storage(uint8_t index, Mission_Command& cmd);
bool write_cmd_to_storage(uint16_t index, Mission_Command& cmd);
// mavlink_to_mission_cmd - converts mavlink message to an AP_Mission::Mission_Command object which can be stored to eeprom
// return true on success, false on failure
@ -210,13 +210,13 @@ private:
/// returns true if found, false if not found (i.e. mission complete)
/// accounts for do_jump commands
/// increment_jump_num_times_if_found should be set to true if advancing the active navigation command
bool get_next_cmd(uint8_t start_index, Mission_Command& cmd, bool increment_jump_num_times_if_found);
bool get_next_cmd(uint16_t start_index, Mission_Command& cmd, bool increment_jump_num_times_if_found);
/// get_next_do_cmd - gets next "do" or "conditional" command after start_index
/// returns true if found, false if not found
/// stops and returns false if it hits another navigation command before it finds the first do or conditional command
/// accounts for do_jump commands but never increments the jump's num_times_run (get_next_nav_cmd is responsible for this)
bool get_next_do_cmd(uint8_t start_index, Mission_Command& cmd);
bool get_next_do_cmd(uint16_t start_index, Mission_Command& cmd);
///
/// jump handling methods
@ -245,11 +245,11 @@ private:
// internal variables
struct Mission_Command _nav_cmd; // current "navigation" command. It's position in the command list is held in _nav_cmd.index
struct Mission_Command _do_cmd; // current "do" command. It's position in the command list is held in _do_cmd.index
uint8_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
// jump related variables
struct jump_tracking_struct {
uint8_t index; // index of do-jump commands in mission
uint16_t index; // index of do-jump commands in mission
int16_t num_times_run; // number of times this jump command has been run
} _jump_tracking[AP_MISSION_MAX_NUM_DO_JUMP_COMMANDS];
};