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navigator: reset mission item timer on state and mission item changes

This commit is contained in:
Anton Babushkin 2014-01-29 22:11:38 +01:00
parent 6f559b279e
commit 7d2f2523f8
1 changed files with 9 additions and 0 deletions
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9
src/modules/navigator/navigator_main.cpp
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@ -865,6 +865,9 @@ Navigator::task_main()
if (myState != prevState) {
mavlink_log_info(_mavlink_fd, "[navigator] nav state: %s", nav_states_str[myState]);
prevState = myState;
/* reset time counter on state changes */
_time_first_inside_orbit = 0;
}
perf_end(_loop_perf);
@ -1112,6 +1115,9 @@ Navigator::set_mission_item()
ret = _mission.get_current_mission_item(&_mission_item, &onboard, &index);
if (ret == OK) {
/* reset time counter for new item */
_time_first_inside_orbit = 0;
_mission_item_valid = true;
position_setpoint_from_mission_item(&_pos_sp_triplet.current, &_mission_item);
@ -1290,6 +1296,9 @@ Navigator::start_land_home()
void
Navigator::set_rtl_item()
{
/*reset time counter for new RTL item */
_time_first_inside_orbit = 0;
switch (_rtl_state) {
case RTL_STATE_CLIMB: {
memcpy(&_pos_sp_triplet.previous, &_pos_sp_triplet.current, sizeof(position_setpoint_s));