diff options
Diffstat (limited to 'src/modules/navigator/navigator_mission.cpp')
| -rw-r--r-- | src/modules/navigator/navigator_mission.cpp | 29 |
1 files changed, 26 insertions, 3 deletions
diff --git a/src/modules/navigator/navigator_mission.cpp b/src/modules/navigator/navigator_mission.cpp index 993f8f133..6576aae70 100644 --- a/src/modules/navigator/navigator_mission.cpp +++ b/src/modules/navigator/navigator_mission.cpp @@ -53,7 +53,8 @@ static const int ERROR = -1; Mission::Mission() : - + + _offboard_dataman_id(-1), _current_offboard_mission_index(0), _current_onboard_mission_index(0), _offboard_mission_item_count(0), @@ -68,6 +69,12 @@ Mission::~Mission() } void +Mission::set_offboard_dataman_id(int new_id) +{ + _offboard_dataman_id = new_id; +} + +void Mission::set_current_offboard_mission_index(int new_index) { if (new_index != -1) { @@ -132,8 +139,16 @@ Mission::get_current_mission_item(struct mission_item_s *new_mission_item, bool /* otherwise fallback to offboard */ } else if (current_offboard_mission_available()) { + dm_item_t dm_current; + + if (_offboard_dataman_id == 0) { + dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0; + } else { + dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1; + } + const ssize_t len = sizeof(struct mission_item_s); - if (dm_read(DM_KEY_WAYPOINTS_OFFBOARD, _current_offboard_mission_index, new_mission_item, len) != len) { + if (dm_read(dm_current, _current_offboard_mission_index, new_mission_item, len) != len) { /* not supposed to happen unless the datamanager can't access the SD card, etc. */ _current_mission_type = MISSION_TYPE_NONE; return ERROR; @@ -166,8 +181,16 @@ Mission::get_next_mission_item(struct mission_item_s *new_mission_item) /* otherwise fallback to offboard */ } else if (next_offboard_mission_available()) { + dm_item_t dm_current; + + if (_offboard_dataman_id == 0) { + dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0; + } else { + dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1; + } + const ssize_t len = sizeof(struct mission_item_s); - if (dm_read(DM_KEY_WAYPOINTS_OFFBOARD, _current_offboard_mission_index + 1, new_mission_item, len) != len) { + if (dm_read(dm_current, _current_offboard_mission_index + 1, new_mission_item, len) != len) { /* not supposed to happen unless the datamanager can't access the SD card, etc. */ return ERROR; } |