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navigator: report using mission result if a DO_JUMP waypoint has been changed

This commit is contained in:
Ban Siesta 2014-12-19 23:38:55 +00:00
parent 7cb4786e79
commit 180e17de33
4 changed files with 28 additions and 1 deletions
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8
src/modules/mavlink/mavlink_mission.cpp
View File

@ -309,6 +309,12 @@ MavlinkMissionManager::send(const hrt_abstime now)
send_mission_current(_current_seq);
if (mission_result.item_do_jump_changed) {
/* send a mission item again if the remaining DO_JUMPs has changed */
send_mission_item(_transfer_partner_sysid, _transfer_partner_compid,
(uint16_t)mission_result.item_changed_index);
}
} else {
if (_slow_rate_limiter.check(now)) {
send_mission_current(_current_seq);
@ -808,7 +814,7 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *
case NAV_CMD_DO_JUMP:
mavlink_mission_item->param1 = mission_item->do_jump_mission_index;
mavlink_mission_item->param2 = mission_item->do_jump_repeat_count;
mavlink_mission_item->param2 = mission_item->do_jump_repeat_count - mission_item->do_jump_current_count;
break;
default:

12
src/modules/navigator/mission.cpp
View File

@ -630,6 +630,8 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s
"ERROR DO JUMP waypoint could not be written");
return false;
}
report_do_jump_mission_changed(*mission_index_ptr,
mission_item_tmp.do_jump_repeat_count);
}
/* set new mission item index and repeat
* we don't have to validate here, if it's invalid, we should realize this later .*/
@ -700,6 +702,16 @@ Mission::save_offboard_mission_state()
dm_unlock(DM_KEY_MISSION_STATE);
}
void
Mission::report_do_jump_mission_changed(int index, int do_jumps_remaining)
{
/* inform about the change */
_navigator->get_mission_result()->item_do_jump_changed = true;
_navigator->get_mission_result()->item_changed_index = index;
_navigator->get_mission_result()->item_do_jump_remaining = do_jumps_remaining;
_navigator->set_mission_result_updated();
}
void
Mission::set_mission_item_reached()
{

6
src/modules/navigator/mission.h
View File

@ -38,6 +38,7 @@
* @author Julian Oes <julian@oes.ch>
* @author Thomas Gubler <thomasgubler@gmail.com>
* @author Anton Babushkin <anton.babushkin@me.com>
* @author Ban Siesta <bansiesta@gmail.com>
*/
#ifndef NAVIGATOR_MISSION_H
@ -130,6 +131,11 @@ private:
*/
void save_offboard_mission_state();
/**
* Inform about a changed mission item after a DO_JUMP
*/
void report_do_jump_mission_changed(int index, int do_jumps_remaining);
/**
* Set a mission item as reached
*/

3
src/modules/uORB/topics/mission_result.h
View File

@ -61,6 +61,9 @@ struct mission_result_s
bool finished; /**< true if mission has been completed */
bool stay_in_failsafe; /**< true if the commander should not switch out of the failsafe mode*/
bool flight_termination; /**< true if the navigator demands a flight termination from the commander app */
bool item_do_jump_changed; /**< true if the number of do jumps remaining has changed */
unsigned item_changed_index; /**< indicate which item has changed */
unsigned item_do_jump_remaining;/**< set to the number of do jumps remaining for that item */
};
/**