diff options
| -rw-r--r-- | src/modules/commander/commander.cpp | 2 | ||||
| -rw-r--r-- | src/modules/navigator/mission.cpp | 27 | ||||
| -rw-r--r-- | src/modules/uORB/topics/manual_control_setpoint.h | 16 |
3 files changed, 24 insertions, 21 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 46caddd46..149c0f60e 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -220,8 +220,6 @@ void control_status_leds(vehicle_status_s *status, const actuator_armed_s *actua void check_valid(hrt_abstime timestamp, hrt_abstime timeout, bool valid_in, bool *valid_out, bool *changed); -void check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_status_s *status); - transition_result_t set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoint_s *sp_man); void set_control_mode(); diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index 7fac69a61..d0611b9e5 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -371,7 +371,7 @@ Mission::set_mission_items() } else { /* no mission available or mission finished, switch to loiter */ if (_mission_type != MISSION_TYPE_NONE) { - mavlink_log_critical(_navigator->get_mavlink_fd(), "mission finished, loitering"); + mavlink_log_critical(_navigator->get_mavlink_fd(), "mission finished"); /* use last setpoint for loiter */ _navigator->set_can_loiter_at_sp(true); @@ -595,13 +595,15 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s dm_item = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id); } - if (*mission_index_ptr < 0 || *mission_index_ptr >= (int)mission->count) { - /* mission item index out of bounds */ - return false; - } - - /* repeat several to get the mission item because we might have to follow multiple DO_JUMPS */ + /* Repeat this several times in case there are several DO JUMPS that we need to follow along, however, after + * 10 iterations we have to assume that the DO JUMPS are probably cycling and give up. */ for (int i = 0; i < 10; i++) { + + if (*mission_index_ptr < 0 || *mission_index_ptr >= (int)mission->count) { + /* mission item index out of bounds */ + return false; + } + const ssize_t len = sizeof(struct mission_item_s); /* read mission item to temp storage first to not overwrite current mission item if data damaged */ @@ -626,11 +628,12 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s if (is_current) { (mission_item_tmp.do_jump_current_count)++; /* save repeat count */ - if (dm_write(dm_item, *mission_index_ptr, DM_PERSIST_IN_FLIGHT_RESET, &mission_item_tmp, len) != len) { + if (dm_write(dm_item, *mission_index_ptr, DM_PERSIST_POWER_ON_RESET, + &mission_item_tmp, len) != len) { /* not supposed to happen unless the datamanager can't access the * dataman */ mavlink_log_critical(_navigator->get_mavlink_fd(), - "ERROR DO JUMP waypoint could not be written"); + "ERROR DO JUMP waypoint could not be written"); return false; } } @@ -639,8 +642,10 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s *mission_index_ptr = mission_item_tmp.do_jump_mission_index; } else { - mavlink_log_critical(_navigator->get_mavlink_fd(), - "DO JUMP repetitions completed"); + if (is_current) { + mavlink_log_critical(_navigator->get_mavlink_fd(), + "DO JUMP repetitions completed"); + } /* no more DO_JUMPS, therefore just try to continue with next mission item */ (*mission_index_ptr)++; } diff --git a/src/modules/uORB/topics/manual_control_setpoint.h b/src/modules/uORB/topics/manual_control_setpoint.h index dde237adc..50b7bd9e5 100644 --- a/src/modules/uORB/topics/manual_control_setpoint.h +++ b/src/modules/uORB/topics/manual_control_setpoint.h @@ -47,7 +47,7 @@ * Switch position */ typedef enum { - SWITCH_POS_NONE = 0, /**< switch is not mapped */ + SWITCH_POS_NONE = 0, /**< switch is not mapped */ SWITCH_POS_ON, /**< switch activated (value = 1) */ SWITCH_POS_MIDDLE, /**< middle position (value = 0) */ SWITCH_POS_OFF /**< switch not activated (value = -1) */ @@ -93,13 +93,13 @@ struct manual_control_setpoint_s { float aux4; /**< default function: camera roll */ float aux5; /**< default function: payload drop */ - switch_pos_t mode_switch; /**< main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO */ - switch_pos_t return_switch; /**< return to launch 2 position switch (mandatory): _NORMAL_, RTL */ - switch_pos_t posctl_switch; /**< position control 2 position switch (optional): _ALTCTL_, POSCTL */ - switch_pos_t loiter_switch; /**< loiter 2 position switch (optional): _MISSION_, LOITER */ - switch_pos_t acro_switch; /**< acro 2 position switch (optional): _MANUAL_, ACRO */ - switch_pos_t offboard_switch; /**< offboard 2 position switch (optional): _NORMAL_, OFFBOARD */ -}; /**< manual control inputs */ + switch_pos_t mode_switch; /**< main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO */ + switch_pos_t return_switch; /**< return to launch 2 position switch (mandatory): _NORMAL_, RTL */ + switch_pos_t posctl_switch; /**< position control 2 position switch (optional): _ALTCTL_, POSCTL */ + switch_pos_t loiter_switch; /**< loiter 2 position switch (optional): _MISSION_, LOITER */ + switch_pos_t acro_switch; /**< acro 2 position switch (optional): _MANUAL_, ACRO */ + switch_pos_t offboard_switch; /**< offboard 2 position switch (optional): _NORMAL_, OFFBOARD */ +}; /** * @} |