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missionResult: remove unnecessary constants and rename instance_count to mission_update_counter

This commit is contained in:
Konrad 2023-11-11 17:21:14 +01:00 committed by Beat Küng
parent 7afa011741
commit a92e7a8796
5 changed files with 8 additions and 11 deletions
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5
msg/MissionResult.msg
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@ -1,9 +1,6 @@
uint64 timestamp # time since system start (microseconds)
uint8 MISSION_EXECUTION_MODE_NORMAL = 0 # Execute the mission according to the planned items
uint8 MISSION_EXECUTION_MODE_REVERSE = 1 # Execute the mission in reverse order, ignoring commands and converting all waypoints to normal ones
uint8 MISSION_EXECUTION_MODE_FAST_FORWARD = 2 # Execute the mission as fast as possible, for example converting loiter waypoints to normal ones
uint32 instance_count # Instance count of this mission. Increments monotonically whenever the mission is modified
uint16 mission_update_counter # Counter for the mission for which the result was generated
int32 seq_reached # Sequence of the mission item which has been reached, default -1
uint16 seq_current # Sequence of the current mission item

6
src/modules/commander/Commander.cpp
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@ -1935,19 +1935,19 @@ void Commander::checkForMissionUpdate()
if (_mission_result_sub.updated()) {
const mission_result_s &mission_result = _mission_result_sub.get();
const auto prev_mission_instance_count = mission_result.instance_count;
const auto prev_mission_mission_update_counter = mission_result.mission_update_counter;
_mission_result_sub.update();
// if mission_result is valid for the current mission
const bool mission_result_ok = (mission_result.timestamp > _boot_timestamp)
&& (mission_result.instance_count > 0);
&& (mission_result.mission_update_counter > 0);
bool auto_mission_available = mission_result_ok && mission_result.valid;
if (mission_result_ok) {
/* Only evaluate mission state if home is set */
if (!_failsafe_flags.home_position_invalid &&
(prev_mission_instance_count != mission_result.instance_count)) {
(prev_mission_mission_update_counter != mission_result.mission_update_counter)) {
if (!auto_mission_available) {
/* the mission is invalid */

2
src/modules/commander/HealthAndArmingChecks/checks/missionCheck.cpp
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@ -56,6 +56,6 @@ void MissionChecks::checkAndReport(const Context &context, Report &reporter)
}
// This is a mode requirement, no need to report
reporter.failsafeFlags().auto_mission_missing = mission_result.instance_count <= 0;
reporter.failsafeFlags().auto_mission_missing = mission_result.mission_update_counter <= 0;
}
}

4
src/modules/navigator/mission_base.cpp
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@ -690,14 +690,14 @@ MissionBase::checkMissionRestart()
void
MissionBase::check_mission_valid()
{
if (_navigator->get_mission_result()->instance_count != _mission.mission_update_counter) {
if (_navigator->get_mission_result()->mission_update_counter != _mission.mission_update_counter) {
MissionFeasibilityChecker missionFeasibilityChecker(_navigator, _dataman_client);
bool is_mission_valid =
missionFeasibilityChecker.checkMissionFeasible(_mission);
_navigator->get_mission_result()->valid = is_mission_valid;
_navigator->get_mission_result()->instance_count = _mission.mission_update_counter;
_navigator->get_mission_result()->mission_update_counter = _mission.mission_update_counter;
_navigator->get_mission_result()->seq_total = _mission.count;
_navigator->get_mission_result()->seq_reached = -1;
_navigator->get_mission_result()->failure = false;

2
src/modules/navigator/navigator.h
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@ -249,7 +249,7 @@ public:
orb_advert_t *get_mavlink_log_pub() { return &_mavlink_log_pub; }
int mission_instance_count() const { return _mission_result.instance_count; }
int mission_instance_count() const { return _mission_result.mission_update_counter; }
void set_mission_failure_heading_timeout();