diff options
Diffstat (limited to 'src/modules/navigator/mission.cpp')
| -rw-r--r-- | src/modules/navigator/mission.cpp | 40 |
1 files changed, 11 insertions, 29 deletions
diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index b33b2049f..e9e03a44e 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -62,18 +62,16 @@ Mission::Mission(Navigator *navigator, const char *name) : MissionBlock(navigator, name), - _param_onboard_enabled(this, "ONBOARD_EN"), - _param_takeoff_alt(this, "TAKEOFF_ALT"), - _param_dist_1wp(this, "DIST_1WP"), - _param_altmode(this, "ALTMODE"), + _param_onboard_enabled(this, "MIS_ONBOARD_EN", false), + _param_takeoff_alt(this, "MIS_TAKEOFF_ALT", false), + _param_dist_1wp(this, "MIS_DIST_1WP", false), + _param_altmode(this, "MIS_ALTMODE", false), _onboard_mission({0}), _offboard_mission({0}), _current_onboard_mission_index(-1), _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), @@ -671,18 +669,18 @@ 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(); } @@ -690,23 +688,7 @@ 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; -} |