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Rover: rename update_commands to update_mission

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This commit is contained in:
Randy Mackay 2017-08-03 10:33:33 +09:00
parent 56b0621994
commit 2640ec9ed9
4 changed files with 12 additions and 14 deletions
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2
APMrover2/APMrover2.cpp
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@ -57,7 +57,7 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
SCHED_TASK(update_wheel_encoder, 20, 50),
SCHED_TASK(navigate, 10, 1600),
SCHED_TASK(update_compass, 10, 2000),
SCHED_TASK(update_commands, 10, 1000),
SCHED_TASK(update_mission, 10, 1000),
SCHED_TASK(update_logging1, 10, 1000),
SCHED_TASK(update_logging2, 10, 1000),
SCHED_TASK(gcs_retry_deferred, 50, 1000),

2
APMrover2/Rover.h
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@ -486,7 +486,7 @@ private:
bool verify_wait_delay();
bool verify_within_distance();
bool verify_nav_set_yaw_speed();
void update_commands(void);
void update_mission(void);
void delay(uint32_t ms);
void mavlink_delay(uint32_t ms);
void read_control_switch();

10
APMrover2/commands_logic.cpp
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@ -1,5 +1,15 @@
#include "Rover.h"
// update mission including starting or stopping commands. called by scheduler at 10Hz
void Rover::update_mission(void)
{
if (control_mode == &mode_auto) {
if (home_is_set != HOME_UNSET && mission.num_commands() > 1) {
mission.update();
}
}
}
/********************************************************************************/
// Command Event Handlers
/********************************************************************************/

12
APMrover2/commands_process.cpp
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@ -1,12 +0,0 @@
#include "Rover.h"
// called by update navigation at 10Hz
// --------------------
void Rover::update_commands(void)
{
if (control_mode == &mode_auto) {
if (home_is_set != HOME_UNSET && mission.num_commands() > 1) {
mission.update();
}
}
}