diff options
| author | Anton Babushkin <anton.babushkin@me.com> | 2014-07-10 14:08:09 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-07-10 14:08:09 +0200 |
| commit | 9b2d444cc56eaaedcf271f200b93dcca94623209 (patch) | |
| tree | ae338f718dd6d02032840b93c95b717082e84704 /src/modules | |
| parent | a29f7cad395ce53b74500a0dc03214186c679378 (diff) | |
| download | px4-firmware-9b2d444cc56eaaedcf271f200b93dcca94623209.tar.gz px4-firmware-9b2d444cc56eaaedcf271f200b93dcca94623209.tar.bz2 px4-firmware-9b2d444cc56eaaedcf271f200b93dcca94623209.zip | |
dataman: use DM_KEY_WAYPOINTS_OFFBOARD() macro everywhere
Diffstat (limited to 'src/modules')
| -rw-r--r-- | src/modules/mavlink/mavlink_mission.cpp | 4 | ||||
| -rw-r--r-- | src/modules/navigator/mission.cpp | 23 |
2 files changed, 7 insertions, 20 deletions
diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp index b2288469c..0dda2337e 100644 --- a/src/modules/mavlink/mavlink_mission.cpp +++ b/src/modules/mavlink/mavlink_mission.cpp @@ -216,7 +216,7 @@ MavlinkMissionManager::send_mission_count(uint8_t sysid, uint8_t compid, uint16_ void MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t seq) { - dm_item_t dm_item = _dataman_id == 0 ? DM_KEY_WAYPOINTS_OFFBOARD_0 : DM_KEY_WAYPOINTS_OFFBOARD_1; + dm_item_t dm_item = DM_KEY_WAYPOINTS_OFFBOARD(_dataman_id); struct mission_item_s mission_item; if (dm_read(dm_item, seq, &mission_item, sizeof(struct mission_item_s)) == sizeof(struct mission_item_s)) { @@ -650,7 +650,7 @@ MavlinkMissionManager::handle_mission_item(const mavlink_message_t *msg) return; } - dm_item_t dm_item = _transfer_dataman_id == 0 ? DM_KEY_WAYPOINTS_OFFBOARD_0 : DM_KEY_WAYPOINTS_OFFBOARD_1; + dm_item_t dm_item = DM_KEY_WAYPOINTS_OFFBOARD(_transfer_dataman_id); if (dm_write(dm_item, wp.seq, DM_PERSIST_POWER_ON_RESET, &mission_item, sizeof(struct mission_item_s)) != sizeof(struct mission_item_s)) { if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: error writing seq %u to dataman ID %i", wp.seq, _transfer_dataman_id); } diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index 53f0724cd..06e915f27 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -201,19 +201,11 @@ Mission::update_offboard_mission() /* Check mission feasibility, for now do not handle the return value, * however warnings are issued to the gcs via mavlink from inside the MissionFeasiblityChecker */ - dm_item_t dm_current; + dm_item_t dm_current = DM_KEY_WAYPOINTS_OFFBOARD(_transfer_dataman_id); - if (_offboard_mission.dataman_id == 0) { - dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0; - - } else { - dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1; - } - - missionFeasiblityChecker.checkMissionFeasible(_navigator->get_vstatus()->is_rotary_wing, dm_current, - (size_t)_offboard_mission.count, - _navigator->get_geofence(), - _navigator->get_home_position()->alt); + missionFeasiblityChecker.checkMissionFeasible(_navigator->get_vstatus()->is_rotary_wing, + dm_current, (size_t) _offboard_mission.count, _navigator->get_geofence(), + _navigator->get_home_position()->alt); } else { warnx("offboard mission update failed"); @@ -474,12 +466,7 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s mission = &_offboard_mission; - if (_offboard_mission.dataman_id == 0) { - dm_item = DM_KEY_WAYPOINTS_OFFBOARD_0; - - } else { - dm_item = DM_KEY_WAYPOINTS_OFFBOARD_1; - } + dm_item = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id); } if (*mission_index_ptr < 0 || *mission_index_ptr >= (int)mission->count) { |