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mission_base: Force mission validity check on activation

This commit is contained in:
Konrad 2024-03-08 09:44:42 +01:00 committed by Silvan Fuhrer
parent 1aa26a5a91
commit 04099ed483
2 changed files with 10 additions and 7 deletions
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12
src/modules/navigator/mission_base.cpp
View File

@ -207,7 +207,7 @@ MissionBase::on_activation()
_mission_has_been_activated = true;
_system_disarmed_while_inactive = false;
check_mission_valid();
check_mission_valid(true);
update_mission();
@ -687,11 +687,13 @@ MissionBase::checkMissionRestart()
}
void
MissionBase::check_mission_valid()
MissionBase::check_mission_valid(bool forced)
{
if ((_navigator->get_mission_result()->mission_id != _mission.mission_id)
|| (_navigator->get_mission_result()->geofence_id != _mission.geofence_id)
|| (_navigator->get_mission_result()->home_position_counter != _navigator->get_home_position()->update_count)) {
// Allow forcing it, since we currently not rechecking if parameters have changed.
if (forced ||
(_navigator->get_mission_result()->mission_id != _mission.mission_id) ||
(_navigator->get_mission_result()->geofence_id != _mission.geofence_id) ||
(_navigator->get_mission_result()->home_position_counter != _navigator->get_home_position()->update_count)) {
_navigator->get_mission_result()->mission_id = _mission.mission_id;
_navigator->get_mission_result()->geofence_id = _mission.geofence_id;

5
src/modules/navigator/mission_base.h
View File

@ -342,9 +342,10 @@ private:
void updateMavlinkMission();
/**
* Check whether a mission is ready to go
* @brief Check whether a mission is ready to go
* @param[in] forced flag if the check has to be run irregardles of any updates.
*/
void check_mission_valid();
void check_mission_valid(bool forced = false);
/**
* Reset mission