add method to block fallback to mission

failsafe navigation modes can use a flag in mission_result to tell the
commander to not switch back to mission

1 files changed, 7 insertions, 25 deletions

diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index ba766cd10..7ce0e2f89 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -68,8 +68,6 @@ Mission::Mission(Navigator *navigator, const char *name) :
 	_current_offboard_mission_index(-1),
 	_need_takeoff(true),
 	_takeoff(false),
-	_mission_result_pub(-1),
-	_mission_result({0}),
 	_mission_type(MISSION_TYPE_NONE),
 	_inited(false),
 	_dist_1wp_ok(false)
@@ -577,18 +575,18 @@ void
 Mission::report_mission_item_reached()
 {
 	if (_mission_type == MISSION_TYPE_OFFBOARD) {
-		_mission_result.reached = true;
-		_mission_result.seq_reached = _current_offboard_mission_index;
+		_navigator->get_mission_result()->reached = true;
+		_navigator->get_mission_result()->seq_reached = _current_offboard_mission_index;
 	}
-	publish_mission_result();
+	_navigator->publish_mission_result();
 }
 
 void
 Mission::report_current_offboard_mission_item()
 {
 	warnx("current offboard mission index: %d", _current_offboard_mission_index);
-	_mission_result.seq_current = _current_offboard_mission_index;
-	publish_mission_result();
+	_navigator->get_mission_result()->seq_current = _current_offboard_mission_index;
+	_navigator->publish_mission_result();
 
 	save_offboard_mission_state();
 }
@@ -596,23 +594,7 @@ Mission::report_current_offboard_mission_item()
 void
 Mission::report_mission_finished()
 {
-	_mission_result.finished = true;
-	publish_mission_result();
+	_navigator->get_mission_result()->finished = true;
+	_navigator->publish_mission_result();
 }
 
-void
-Mission::publish_mission_result()
-{
-	/* lazily publish the mission result only once available */
-	if (_mission_result_pub > 0) {
-		/* publish mission result */
-		orb_publish(ORB_ID(mission_result), _mission_result_pub, &_mission_result);
-
-	} else {
-		/* advertise and publish */
-		_mission_result_pub = orb_advertise(ORB_ID(mission_result), &_mission_result);
-	}
-	/* reset reached bool */
-	_mission_result.reached = false;
-	_mission_result.finished = false;
-}