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author | Anton Babushkin <anton.babushkin@me.com> | 2014-02-18 18:54:58 +0400 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-02-18 18:54:58 +0400 |
commit | a43c7c488eaba5022a18f05e590059cad6f580da (patch) | |
tree | 862b8c79cfe2309162c2b44a16178915d577609a /src | |
parent | b28b0d0fcedb4d11c3c6486d456190c1230a3e69 (diff) | |
download | px4-firmware-a43c7c488eaba5022a18f05e590059cad6f580da.tar.gz px4-firmware-a43c7c488eaba5022a18f05e590059cad6f580da.tar.bz2 px4-firmware-a43c7c488eaba5022a18f05e590059cad6f580da.zip |
navigator: "reached" flags reset fixed
Diffstat (limited to 'src')
-rw-r--r-- | src/modules/navigator/navigator_main.cpp | 39 |
1 files changed, 28 insertions, 11 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 0ed12d106..af1b9aac0 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -322,6 +322,11 @@ private: bool onboard_mission_available(unsigned relative_index); /** + * Reset all "reached" flags. + */ + void reset_reached(); + + /** * Check if current mission item has been reached. */ bool check_mission_item_reached(); @@ -855,9 +860,6 @@ Navigator::task_main() if (myState != prevState) { mavlink_log_info(_mavlink_fd, "[navigator] nav state: %s", nav_states_str[myState]); prevState = myState; - - /* reset time counter on state changes */ - _time_first_inside_orbit = 0; } perf_end(_loop_perf); @@ -1009,6 +1011,8 @@ StateTable::Tran const Navigator::myTable[NAV_STATE_MAX][MAX_EVENT] = { void Navigator::start_none() { + reset_reached(); + _pos_sp_triplet.previous.valid = false; _pos_sp_triplet.current.valid = false; _pos_sp_triplet.next.valid = false; @@ -1024,6 +1028,8 @@ Navigator::start_none() void Navigator::start_ready() { + reset_reached(); + _pos_sp_triplet.previous.valid = false; _pos_sp_triplet.current.valid = true; _pos_sp_triplet.next.valid = false; @@ -1046,6 +1052,8 @@ Navigator::start_ready() void Navigator::start_loiter() { + reset_reached(); + _do_takeoff = false; /* set loiter position if needed */ @@ -1091,6 +1099,8 @@ Navigator::start_mission() void Navigator::set_mission_item() { + reset_reached(); + /* copy current mission to previous item */ memcpy(&_pos_sp_triplet.previous, &_pos_sp_triplet.current, sizeof(position_setpoint_s)); @@ -1104,9 +1114,6 @@ Navigator::set_mission_item() ret = _mission.get_current_mission_item(&_mission_item, &onboard, &index); if (ret == OK) { - /* reset time counter for new item */ - _time_first_inside_orbit = 0; - _mission_item_valid = true; position_setpoint_from_mission_item(&_pos_sp_triplet.current, &_mission_item); @@ -1224,6 +1231,8 @@ Navigator::start_rtl() void Navigator::start_land() { + reset_reached(); + /* this state can be requested by commander even if no global position available, * in his case controller must perform landing without position control */ _do_takeoff = false; @@ -1255,6 +1264,8 @@ Navigator::start_land() void Navigator::start_land_home() { + reset_reached(); + /* land to home position, should be called when hovering above home, from RTL state */ _do_takeoff = false; _reset_loiter_pos = true; @@ -1285,8 +1296,7 @@ Navigator::start_land_home() void Navigator::set_rtl_item() { - /*reset time counter for new RTL item */ - _time_first_inside_orbit = 0; + reset_reached(); switch (_rtl_state) { case RTL_STATE_CLIMB: { @@ -1550,9 +1560,7 @@ Navigator::check_mission_item_reached() /* check if the MAV was long enough inside the waypoint orbit */ if ((now - _time_first_inside_orbit >= (uint64_t)_mission_item.time_inside * 1e6) || _mission_item.nav_cmd == NAV_CMD_TAKEOFF) { - _time_first_inside_orbit = 0; - _waypoint_yaw_reached = false; - _waypoint_position_reached = false; + reset_reached(); return true; } } @@ -1562,6 +1570,15 @@ Navigator::check_mission_item_reached() } void +Navigator::reset_reached() +{ + _time_first_inside_orbit = 0; + _waypoint_position_reached = false; + _waypoint_yaw_reached = false; + +} + +void Navigator::on_mission_item_reached() { if (myState == NAV_STATE_MISSION) { |