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mission: don't validate old mission if the vehicle is armed

This commit is contained in:
Igor Mišić 2021-09-23 14:17:40 +02:00
parent 37ddd095ad
commit ce301a17ea
2 changed files with 19 additions and 4 deletions
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1
msg/mission.msg
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@ -4,4 +4,5 @@ uint8 dataman_id # default 0, there are two offboard storage places in the datam
uint16 count # count of the missions stored in the dataman
int32 current_seq # default -1, start at the one changed latest
bool valid # true if mission passed feasibility checks
bool clear_mission # true if mission is cleared in dataman

22
src/modules/navigator/mission.cpp
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@ -500,6 +500,7 @@ Mission::update_mission()
_mission.count = 0;
_mission.current_seq = 0;
_current_mission_index = 0;
_mission.valid = false;
} else {
@ -581,11 +582,23 @@ Mission::restore_old_mission()
_mission = _old_mission;
/* check if valid. It could be invalid if there is no previous mission. */
check_mission_valid(true);
bool valid = _navigator->get_mission_result()->valid;
if ((_navigator->get_vstatus()->arming_state == vehicle_status_s::ARMING_STATE_ARMED) &&
_mission.valid) {
if (valid) {
/* if armed and valid don't check old mission validity again but update navigator */
_navigator->get_mission_result()->valid = true;
_navigator->get_mission_result()->seq_total = _mission.count;
_navigator->increment_mission_instance_count();
_navigator->set_mission_result_updated();
_home_inited = _navigator->home_position_valid();
find_mission_land_start();
} else {
/* if not armed check validity again in case we changed feasibility parameters */
check_mission_valid(true);
}
if (_mission.valid) {
_mission_changed = true;
_navigator->get_mission_result()->failure = false;
@ -1785,6 +1798,7 @@ Mission::check_mission_valid(bool force)
_param_mis_dist_wps.get(),
_navigator->mission_landing_required());
_mission.valid = _navigator->get_mission_result()->valid;
_navigator->get_mission_result()->seq_total = _mission.count;
_navigator->increment_mission_instance_count();
_navigator->set_mission_result_updated();