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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-06-27 00:27:08 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-06-27 00:27:08 +0200 |
| commit | 9ae44291b169a90945f090487e3757db9fc8c075 (patch) | |
| tree | ffdc63e796b42e19530acb68199abd890eac7c08 /src/modules/navigator/mission_block.cpp | |
| parent | 8e8798a5225d333596c9018ec703da0c6787493d (diff) | |
| download | px4-firmware-9ae44291b169a90945f090487e3757db9fc8c075.tar.gz px4-firmware-9ae44291b169a90945f090487e3757db9fc8c075.tar.bz2 px4-firmware-9ae44291b169a90945f090487e3757db9fc8c075.zip | |
navigator: added NAV_CMD_IDLE, added RTL_STATE_LOITER and RTL_STATE_LANDED instead of FINISHED
Diffstat (limited to 'src/modules/navigator/mission_block.cpp')
| -rw-r--r-- | src/modules/navigator/mission_block.cpp | 25 |
1 files changed, 17 insertions, 8 deletions
diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index 41d81ad9b..5e545706d 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -69,10 +69,10 @@ MissionBlock::~MissionBlock() bool MissionBlock::is_mission_item_reached() { - /* don't check landed WPs */ if (_mission_item.nav_cmd == NAV_CMD_LAND) { - return false; + return _navigator_priv->get_vstatus()->condition_landed; } + /* TODO: count turns */ #if 0 if ((_mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT || @@ -178,19 +178,28 @@ MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *ite sp->loiter_direction = item->loiter_direction; sp->pitch_min = item->pitch_min; - if (item->nav_cmd == NAV_CMD_TAKEOFF) { + switch (item->nav_cmd) { + case NAV_CMD_IDLE: + sp->type = SETPOINT_TYPE_IDLE; + break; + + case NAV_CMD_TAKEOFF: sp->type = SETPOINT_TYPE_TAKEOFF; + break; - } else if (item->nav_cmd == NAV_CMD_LAND) { + case NAV_CMD_LAND: sp->type = SETPOINT_TYPE_LAND; + break; - } else if (item->nav_cmd == NAV_CMD_LOITER_TIME_LIMIT || - item->nav_cmd == NAV_CMD_LOITER_TURN_COUNT || - item->nav_cmd == NAV_CMD_LOITER_UNLIMITED) { + case NAV_CMD_LOITER_TIME_LIMIT: + case NAV_CMD_LOITER_TURN_COUNT: + case NAV_CMD_LOITER_UNLIMITED: sp->type = SETPOINT_TYPE_LOITER; + break; - } else { + default: sp->type = SETPOINT_TYPE_POSITION; + break; } } |