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mission_base: Do not initialize mission from dataman. only listen on mission topic

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Konrad 2024-03-06 09:29:08 +01:00 committed by Silvan Fuhrer
parent 7884e0a3f7
commit a0ae073d8c
1 changed files with 11 additions and 27 deletions
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38
src/modules/navigator/mission_base.cpp
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@ -52,38 +52,22 @@ MissionBase::MissionBase(Navigator *navigator, int32_t dataman_cache_size_signed
_dataman_cache_size_signed(dataman_cache_size_signed) _dataman_cache_size_signed(dataman_cache_size_signed)
{ {
_dataman_cache.resize(abs(dataman_cache_size_signed)); _dataman_cache.resize(abs(dataman_cache_size_signed));
_is_current_planned_mission_item_valid = (initMission() == PX4_OK);
updateDatamanCache(); // Reset _mission here, and listen on changes on the uorb topic instead of initialize from dataman.
_mission.mission_dataman_id = DM_KEY_WAYPOINTS_OFFBOARD_0;
_mission.fence_dataman_id = DM_KEY_FENCE_POINTS_0;
_mission.safepoint_dataman_id = DM_KEY_SAFE_POINTS_0;
_mission.count = 0;
_mission.current_seq = 0;
_mission.land_start_index = -1;
_mission.land_index = -1;
_mission.mission_id = 0;
_mission.geofence_id = 0;
_mission.safe_points_id = 0;
_mission_pub.advertise(); _mission_pub.advertise();
} }
int MissionBase::initMission()
{
mission_s mission;
int ret_val{PX4_ERROR};
bool success = _dataman_client.readSync(DM_KEY_MISSION_STATE, 0, reinterpret_cast<uint8_t *>(&mission),
sizeof(mission_s));
if (success) {
if (isMissionValid(mission)) {
_mission = mission;
ret_val = PX4_OK;
} else {
resetMission();
}
} else {
PX4_ERR("Could not initialize Mission: Dataman read failed");
resetMission();
}
return ret_val;
}
void void
MissionBase::updateDatamanCache() MissionBase::updateDatamanCache()
{ {