dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

navigator: report when a waypoint has been reached not when the whole mission is finished

This commit is contained in:
Ban Siesta 2014-12-19 23:38:10 +00:00
parent f0ff914b62
commit 7cb4786e79
1 changed files with 2 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
src/modules/navigator/mission.cpp
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>
*/
#include <sys/types.h>
@ -149,18 +150,12 @@ Mission::on_active()
/* lets check if we reached the current mission item */
if (_mission_type != MISSION_TYPE_NONE && is_mission_item_reached()) {
set_mission_item_reached();
if (_mission_item.autocontinue) {
/* switch to next waypoint if 'autocontinue' flag set */
advance_mission();
set_mission_items();
} else {
/* else just report that item reached */
if (_mission_type == MISSION_TYPE_OFFBOARD) {
if (!(_navigator->get_mission_result()->seq_reached == _current_offboard_mission_index && _navigator->get_mission_result()->reached)) {
set_mission_item_reached();
}
}
}
} else if (_mission_type != MISSION_TYPE_NONE &&_param_altmode.get() == MISSION_ALTMODE_FOH) {
@ -395,7 +390,6 @@ Mission::set_mission_items()
/* reuse setpoint for LOITER only if it's not IDLE */
_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == SETPOINT_TYPE_LOITER);
reset_mission_item_reached();
set_mission_finished();
_navigator->set_position_setpoint_triplet_updated();