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navigator: move set_previous_pos_sp to MissionBlock class

This commit is contained in:
Anton Babushkin 2014-06-25 17:13:47 +02:00
parent e0c78e51e3
commit 9d3d5a30af
4 changed files with 15 additions and 17 deletions
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12
src/modules/navigator/mission.cpp
View File

@ -223,7 +223,7 @@ Mission::advance_mission()
void
Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet)
{
set_previous_pos_setpoint(&pos_sp_triplet->current, &pos_sp_triplet->previous);
set_previous_pos_setpoint(pos_sp_triplet);
/* try setting onboard mission item */
if (is_current_onboard_mission_item_set(&pos_sp_triplet->current)) {
@ -261,16 +261,6 @@ Mission::set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet)
}
}
void
Mission::set_previous_pos_setpoint(const struct position_setpoint_s *current_pos_sp,
struct position_setpoint_s *previous_pos_sp)
{
/* reuse current setpoint as previous setpoint */
if (current_pos_sp->valid) {
memcpy(previous_pos_sp, current_pos_sp, sizeof(struct position_setpoint_s));
}
}
bool
Mission::is_current_onboard_mission_item_set(struct position_setpoint_s *current_pos_sp)
{

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

@ -106,12 +106,6 @@ private:
*/
void set_mission_items(struct position_setpoint_triplet_s *pos_sp_triplet);
/**
* Set previous position setpoint
*/
void set_previous_pos_setpoint(const struct position_setpoint_s *current_pos_sp,
struct position_setpoint_s *previous_pos_sp);
/**
* Try to set the current position setpoint from an onboard mission item
* @return true if mission item successfully set

9
src/modules/navigator/mission_block.cpp
View File

@ -194,6 +194,15 @@ MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *ite
}
}
void
MissionBlock::set_previous_pos_setpoint(struct position_setpoint_triplet_s *pos_sp_triplet)
{
/* reuse current setpoint as previous setpoint */
if (pos_sp_triplet->current.valid) {
memcpy(&pos_sp_triplet->previous, &pos_sp_triplet->current, sizeof(struct position_setpoint_s));
}
}
bool
MissionBlock::set_loiter_item(bool reuse_current_pos_sp, struct position_setpoint_triplet_s *pos_sp_triplet)
{

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

@ -82,6 +82,11 @@ public:
*/
void mission_item_to_position_setpoint(const mission_item_s *item, position_setpoint_s *sp);
/**
* Set previous position setpoint to current setpoint
*/
void set_previous_pos_setpoint(struct position_setpoint_triplet_s *pos_sp_triplet);
/**
* Set a loiter item, if possible reuse the position setpoint, otherwise take the current position
*