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px4-firmware
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navigator: defer saving mission until disarmed 

Avoids unnecessary dataman accesses
This commit is contained in:
Beat Küng 2023-06-15 15:10:06 +02:00
parent 16a144c00f
commit ebd64bfab6
2 changed files with 12 additions and 0 deletions
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11
src/modules/navigator/mission.cpp
View File

@ -122,6 +122,10 @@ Mission::on_inactive()
return;
}
if (_need_mission_save && _navigator->get_vstatus()->arming_state != vehicle_status_s::ARMING_STATE_ARMED) {
save_mission_state();
}
if (_inited) {
if (_mission_sub.updated()) {
update_mission();
@ -1752,6 +1756,13 @@ Mission::read_mission_item(int offset, struct mission_item_s *mission_item)
void
Mission::save_mission_state()
{
if (_navigator->get_vstatus()->arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
// Save only while disarmed, as this is a blocking operation
_need_mission_save = true;
return;
}
_need_mission_save = false;
mission_s mission_state = {};
/* read current state */

1
src/modules/navigator/mission.h
View File

@ -348,6 +348,7 @@ private:
bool _inited{false};
bool _home_inited{false};
bool _need_mission_reset{false};
bool _need_mission_save{false};
bool _mission_waypoints_changed{false};
bool _mission_changed{false}; /** < true if the mission changed since the mission mode was active */