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Navigator: remove WORK_ITEM_TYPE_CMD_BEFORE_MOVE 

It was used to make the vehicle needing to accept the waypoint after a VTOL transition in the new VTOL mode

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2021-01-06 12:19:51 +01:00
parent 3c4b0c1b8c
commit 5579a1d789
2 changed files with 0 additions and 25 deletions
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24
src/modules/navigator/mission.cpp
View File

@ -1031,30 +1031,6 @@ Mission::set_mission_items()
generate_waypoint_from_heading(&pos_sp_triplet->current, pos_sp_triplet->current.yaw); generate_waypoint_from_heading(&pos_sp_triplet->current, pos_sp_triplet->current.yaw);
} }
/* don't advance mission after FW to MC command */
if (_mission_item.nav_cmd == NAV_CMD_DO_VTOL_TRANSITION
&& _work_item_type == WORK_ITEM_TYPE_DEFAULT
&& new_work_item_type == WORK_ITEM_TYPE_DEFAULT
&& _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING
&& !_navigator->get_land_detected()->landed
&& pos_sp_triplet->current.valid) {
new_work_item_type = WORK_ITEM_TYPE_CMD_BEFORE_MOVE;
}
/* after FW to MC transition finish moving to the waypoint */
if (_work_item_type == WORK_ITEM_TYPE_CMD_BEFORE_MOVE &&
new_work_item_type == WORK_ITEM_TYPE_DEFAULT
&& pos_sp_triplet->current.valid) {
new_work_item_type = WORK_ITEM_TYPE_DEFAULT;
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
copy_position_if_valid(&_mission_item, &pos_sp_triplet->current);
_mission_item.autocontinue = true;
_mission_item.time_inside = 0.0f;
}
// ignore certain commands in mission fast forward // ignore certain commands in mission fast forward
if ((_mission_execution_mode == mission_result_s::MISSION_EXECUTION_MODE_FAST_FORWARD) && if ((_mission_execution_mode == mission_result_s::MISSION_EXECUTION_MODE_FAST_FORWARD) &&
(_mission_item.nav_cmd == NAV_CMD_DELAY)) { (_mission_item.nav_cmd == NAV_CMD_DELAY)) {

1
src/modules/navigator/mission.h
View File

@ -281,7 +281,6 @@ private:
WORK_ITEM_TYPE_TAKEOFF, /**< takeoff before moving to waypoint */ WORK_ITEM_TYPE_TAKEOFF, /**< takeoff before moving to waypoint */
WORK_ITEM_TYPE_MOVE_TO_LAND, /**< move to land waypoint before descent */ WORK_ITEM_TYPE_MOVE_TO_LAND, /**< move to land waypoint before descent */
WORK_ITEM_TYPE_ALIGN, /**< align for next waypoint */ WORK_ITEM_TYPE_ALIGN, /**< align for next waypoint */
WORK_ITEM_TYPE_CMD_BEFORE_MOVE,
WORK_ITEM_TYPE_TRANSITON_AFTER_TAKEOFF, WORK_ITEM_TYPE_TRANSITON_AFTER_TAKEOFF,
WORK_ITEM_TYPE_MOVE_TO_LAND_AFTER_TRANSITION, WORK_ITEM_TYPE_MOVE_TO_LAND_AFTER_TRANSITION,
WORK_ITEM_TYPE_PRECISION_LAND WORK_ITEM_TYPE_PRECISION_LAND