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AP_Mission: add OPTIONS parameter

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First option added now is to clear the mission on reboot
Fixes #5743
This commit is contained in:
ChrisBird 2017-08-27 04:12:45 -07:00 committed by Francisco Ferreira
parent a895d69b42
commit 46c982d64f
2 changed files with 17 additions and 0 deletions
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13
libraries/AP_Mission/AP_Mission.cpp
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@ -22,6 +22,13 @@ const AP_Param::GroupInfo AP_Mission::var_info[] = {
// @User: Advanced
AP_GROUPINFO("RESTART", 1, AP_Mission, _restart, AP_MISSION_RESTART_DEFAULT),
// @Param: OPTIONS
// @DisplayName: Mission options bitmask
// @Description: Bitmask of what options to use in missions.
// @Bitmask: 0:Clear Mission on reboot
// @User: Advanced
AP_GROUPINFO("OPTIONS", 2, AP_Mission, _options, AP_MISSION_OPTIONS_DEFAULT),
AP_GROUPEND
};
@ -44,6 +51,12 @@ void AP_Mission::init()
// changes in Content size break the storage
static_assert(sizeof(union Content) == 12, "AP_Mission: Content must be 12 bytes");
// If Mission Clear bit is set then it should clear the mission, otherwise retain the mission.
if (AP_MISSION_MASK_MISSION_CLEAR & _options) {
gcs().send_text(MAV_SEVERITY_INFO, "Clearing Mission");
clear();
}
_last_change_time_ms = AP_HAL::millis();
}

4
libraries/AP_Mission/AP_Mission.h
View File

@ -37,6 +37,9 @@
#define AP_MISSION_RESTART_DEFAULT 0 // resume the mission from the last command run by default
#define AP_MISSION_OPTIONS_DEFAULT 0 // Do not clear the mission when rebooting
#define AP_MISSION_MASK_MISSION_CLEAR (1<<0) // If set then Clear the mission on boot
/// @class AP_Mission
/// @brief Object managing Mission
class AP_Mission {
@ -504,6 +507,7 @@ private:
// parameters
AP_Int16 _cmd_total; // total number of commands in the mission
AP_Int8 _restart; // controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)
AP_Int16 _options; // bitmask options for missions, currently for mission clearing on reboot but can be expanded as required
// pointer to main program functions
mission_cmd_fn_t _cmd_start_fn; // pointer to function which will be called when a new command is started