Object managing Mission. More...

#include <AP_Mission.h>

Collaboration diagram for AP_Mission:

Classes
struct	Altitude_Wait

struct	Cam_Trigg_Distance

struct	Change_Speed_Command

struct	Conditional_Delay_Command

struct	Conditional_Distance_Command

union	Content

struct	Digicam_Configure

struct	Digicam_Control

struct	Do_Engine_Control

struct	Do_VTOL_Transition

struct	Gripper_Command

struct	Guided_Limits_Command

struct	Jump_Command

struct	jump_tracking_struct

struct	Mission_Command

struct	Mission_Flags

struct	Mount_Control

struct	Navigation_Delay_Command

struct	Repeat_Relay_Command

struct	Repeat_Servo_Command

struct	Set_Relay_Command

struct	Set_Servo_Command

struct	Set_Yaw_Speed

struct	Winch_Command

struct	Yaw_Command

Public Types
enum	mission_state { MISSION_STOPPED =0, MISSION_RUNNING =1, MISSION_COMPLETE =2 }

Public Member Functions
	FUNCTOR_TYPEDEF (mission_cmd_fn_t, bool, const Mission_Command &)

	FUNCTOR_TYPEDEF (mission_complete_fn_t, void)

	AP_Mission (AP_AHRS &ahrs, mission_cmd_fn_t cmd_start_fn, mission_cmd_fn_t cmd_verify_fn, mission_complete_fn_t mission_complete_fn)

	AP_Mission (const AP_Mission &other)=delete

AP_Mission &	operator= (const AP_Mission &)=delete

void	init ()
	init - initialises this library including checks the version in eeprom matches this library More...

mission_state	state () const
	status - returns the status of the mission (i.e. Mission_Started, Mission_Complete, Mission_Stopped More...

uint16_t	num_commands () const

uint16_t	num_commands_max () const
	num_commands_max - returns maximum number of commands that can be stored More...

void	start ()

void	stop ()
	stop - stops mission execution. subsequent calls to update() will have no effect until the mission is started or resumed More...

void	resume ()

void	start_or_resume ()
	start_or_resume - if MIS_AUTORESTART=0 this will call resume(), otherwise it will call start() More...

bool	starts_with_takeoff_cmd ()
	check mission starts with a takeoff command More...

void	reset ()
	reset - reset mission to the first command More...

bool	clear ()

void	truncate (uint16_t index)
	truncate - truncate any mission items beyond given index More...

void	update ()

bool	add_cmd (Mission_Command &cmd)

bool	replace_cmd (uint16_t index, Mission_Command &cmd)

const Mission_Command &	get_current_nav_cmd () const
	get_current_nav_cmd - returns the current "navigation" command More...

uint16_t	get_current_nav_index () const

uint16_t	get_prev_nav_cmd_id () const

uint16_t	get_prev_nav_cmd_index () const

uint16_t	get_prev_nav_cmd_with_wp_index () const

bool	get_next_nav_cmd (uint16_t start_index, Mission_Command &cmd)

int32_t	get_next_ground_course_cd (int32_t default_angle)

const Mission_Command &	get_current_do_cmd () const
	get_current_do_cmd - returns active "do" command More...

bool	set_current_cmd (uint16_t index)

bool	read_cmd_from_storage (uint16_t index, Mission_Command &cmd) const

bool	write_cmd_to_storage (uint16_t index, Mission_Command &cmd)

void	write_home_to_storage ()

uint32_t	last_change_time_ms (void) const

uint16_t	get_landing_sequence_start ()

bool	jump_to_landing_sequence (void)

Static Public Member Functions
static bool	is_nav_cmd (const Mission_Command &cmd)
	is_nav_cmd - returns true if the command's id is a "navigation" command, false if "do" or "conditional" command More...

static MAV_MISSION_RESULT	mavlink_to_mission_cmd (const mavlink_mission_item_t &packet, AP_Mission::Mission_Command &cmd)

static MAV_MISSION_RESULT	mavlink_int_to_mission_cmd (const mavlink_mission_item_int_t &packet, AP_Mission::Mission_Command &cmd)

static MAV_MISSION_RESULT	mavlink_cmd_long_to_mission_cmd (const mavlink_command_long_t &packet, AP_Mission::Mission_Command &cmd)

static bool	mission_cmd_to_mavlink (const AP_Mission::Mission_Command &cmd, mavlink_mission_item_t &packet)

static bool	mission_cmd_to_mavlink_int (const AP_Mission::Mission_Command &cmd, mavlink_mission_item_int_t &packet)

Static Public Attributes
static const struct AP_Param::GroupInfo	var_info []

Private Member Functions
void	complete ()
	complete - mission is marked complete and clean-up performed including calling the mission_complete_fn More...

bool	advance_current_nav_cmd ()

void	advance_current_do_cmd ()

bool	get_next_cmd (uint16_t start_index, Mission_Command &cmd, bool increment_jump_num_times_if_found)

bool	get_next_do_cmd (uint16_t start_index, Mission_Command &cmd)

void	init_jump_tracking ()

int16_t	get_jump_times_run (const Mission_Command &cmd)
	get_jump_times_run - returns number of times the jump command has been run More...

void	increment_jump_times_run (Mission_Command &cmd)
	increment_jump_times_run - increments the recorded number of times the jump command has been run More...

void	check_eeprom_version ()

Static Private Member Functions
static MAV_MISSION_RESULT	sanity_check_params (const mavlink_mission_item_int_t &packet)
	sanity checks that the masked fields are not NaN's or infinite More...

Private Attributes
struct AP_Mission::Mission_Flags	_flags

const AP_AHRS &	_ahrs

AP_Int16	_cmd_total

AP_Int8	_restart

AP_Int16	_options

mission_cmd_fn_t	_cmd_start_fn

mission_cmd_fn_t	_cmd_verify_fn

mission_complete_fn_t	_mission_complete_fn

struct Mission_Command	_nav_cmd

struct Mission_Command	_do_cmd

uint16_t	_prev_nav_cmd_id

uint16_t	_prev_nav_cmd_index

uint16_t	_prev_nav_cmd_wp_index

struct AP_Mission::jump_tracking_struct	_jump_tracking [AP_MISSION_MAX_NUM_DO_JUMP_COMMANDS]

uint32_t	_last_change_time_ms

Static Private Attributes
static StorageAccess	_storage

Detailed Description

Object managing Mission.

Definition at line 45 of file AP_Mission.h.

Member Enumeration Documentation

◆ mission_state

enum AP_Mission::mission_state

Enumerator
MISSION_STOPPED
MISSION_RUNNING
MISSION_COMPLETE

Definition at line 312 of file AP_Mission.h.

Constructor & Destructor Documentation

◆ AP_Mission() [1/2]

AP_Mission::AP_Mission	(	AP_AHRS &	ahrs,
		mission_cmd_fn_t	cmd_start_fn,
		mission_cmd_fn_t	cmd_verify_fn,
		mission_complete_fn_t	mission_complete_fn
	)

inline

Definition at line 284 of file AP_Mission.h.

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◆ AP_Mission() [2/2]

AP_Mission::AP_Mission ( const AP_Mission & other )

delete

Member Function Documentation

◆ add_cmd()

bool AP_Mission::add_cmd ( Mission_Command & cmd )

public command methodsadd_cmd - adds a command to the end of the command list and writes to storage returns true if successfully added, false on failure cmd.index is updated with it's new position in the mission

Definition at line 254 of file AP_Mission.cpp.

Referenced by GCS_MAVLINK::handle_mission_item(), MissionTest::init_mission(), MissionTest::init_mission_endless_loop(), MissionTest::init_mission_ends_with_do_commands(), MissionTest::init_mission_ends_with_jump_command(), MissionTest::init_mission_jump_to_nonnav(), MissionTest::init_mission_no_nav_commands(), MissionTest::init_mission_starts_with_do_commands(), num_commands(), MissionTest::run_max_cmd_test(), MissionTest::run_replace_cmd_test(), MissionTest::run_resume_test(), MissionTest::run_set_current_cmd_test(), and MissionTest::run_set_current_cmd_while_stopped_test().

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◆ advance_current_do_cmd()

void AP_Mission::advance_current_do_cmd ( )

private

advance_current_do_cmd - moves current do command forward accounts for do-jump commands returns true if successfully advanced (can it ever be unsuccessful?)

advance_current_do_cmd - moves current do command forward accounts for do-jump commands

Definition at line 1462 of file AP_Mission.cpp.

Referenced by update().

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◆ advance_current_nav_cmd()

bool AP_Mission::advance_current_nav_cmd ( )

private

advance_current_nav_cmd - moves current nav command forward do command will also be loaded accounts for do-jump commands

Definition at line 1381 of file AP_Mission.cpp.

Referenced by start(), and update().

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◆ check_eeprom_version()

void AP_Mission::check_eeprom_version ( )

private

check_eeprom_version - checks version of missions stored in eeprom matches this library command list will be cleared if they do not match

Definition at line 1669 of file AP_Mission.cpp.

Referenced by init().

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◆ clear()

bool AP_Mission::clear ( void )

clear - clears out mission returns true if mission was running so it could not be cleared

Definition at line 175 of file AP_Mission.cpp.

Referenced by check_eeprom_version(), GCS_MAVLINK::handle_mission_clear_all(), init(), MissionTest::init_mission(), MissionTest::init_mission_endless_loop(), MissionTest::init_mission_ends_with_do_commands(), MissionTest::init_mission_ends_with_jump_command(), MissionTest::init_mission_jump_to_nonnav(), MissionTest::init_mission_no_nav_commands(), MissionTest::init_mission_starts_with_do_commands(), and num_commands().

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◆ complete()

void AP_Mission::complete ( )

private

complete - mission is marked complete and clean-up performed including calling the mission_complete_fn

private methods

Definition at line 1368 of file AP_Mission.cpp.

Referenced by set_current_cmd(), start(), and update().

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◆ FUNCTOR_TYPEDEF() [1/2]

AP_Mission::FUNCTOR_TYPEDEF	(	mission_cmd_fn_t	,
		bool	,
		const Mission_Command &
	)

◆ FUNCTOR_TYPEDEF() [2/2]

AP_Mission::FUNCTOR_TYPEDEF	(	mission_complete_fn_t	,
		void
	)

◆ get_current_do_cmd()

const Mission_Command& AP_Mission::get_current_do_cmd ( ) const

inline

get_current_do_cmd - returns active "do" command

Definition at line 418 of file AP_Mission.h.

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◆ get_current_nav_cmd()

const Mission_Command& AP_Mission::get_current_nav_cmd ( ) const

inline

get_current_nav_cmd - returns the current "navigation" command

Definition at line 384 of file AP_Mission.h.

Referenced by AP_AdvancedFailsafe::check(), GCS_MAVLINK::handle_mission_request(), and AP_Landing::restart_landing_sequence().

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◆ get_current_nav_index()

uint16_t AP_Mission::get_current_nav_index ( ) const

inline

get_current_nav_index - returns the current "navigation" command index Note that this will return 0 if there is no command. This is used in MAVLink reporting of the mission command

Definition at line 389 of file AP_Mission.h.

Referenced by AP_Landing::restart_landing_sequence(), and GCS_MAVLINK::try_send_mission_message().

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◆ get_jump_times_run()

int16_t AP_Mission::get_jump_times_run ( const Mission_Command & cmd )

private

get_jump_times_run - returns number of times the jump command has been run

get_jump_times_run - returns number of times the jump command has been run return is signed to be consistent with do-jump cmd's repeat count which can be -1 (to signify to repeat forever)

Definition at line 1615 of file AP_Mission.cpp.

Referenced by get_next_cmd().

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◆ get_landing_sequence_start()

uint16_t AP_Mission::get_landing_sequence_start ( )

Definition at line 1693 of file AP_Mission.cpp.

Referenced by jump_to_landing_sequence(), last_change_time_ms(), and AP_Landing::restart_landing_sequence().

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◆ get_next_cmd()

bool AP_Mission::get_next_cmd	(	uint16_t	start_index,
		Mission_Command &	cmd,
		bool	increment_jump_num_times_if_found
	)

private

get_next_cmd - gets next command found at or after start_index returns true if found, false if not found (i.e. mission complete) accounts for do_jump commands increment_jump_num_times_if_found should be set to true if advancing the active navigation command

Definition at line 1504 of file AP_Mission.cpp.

Referenced by advance_current_nav_cmd(), get_next_do_cmd(), get_next_nav_cmd(), and set_current_cmd().

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◆ get_next_do_cmd()

bool AP_Mission::get_next_do_cmd	(	uint16_t	start_index,
		Mission_Command &	cmd
	)

private

get_next_do_cmd - gets next "do" or "conditional" command after start_index returns true if found, false if not found stops and returns false if it hits another navigation command before it finds the first do or conditional command accounts for do_jump commands but never increments the jump's num_times_run (get_next_nav_cmd is responsible for this)

get_next_do_cmd - gets next "do" or "conditional" command after start_index returns true if found, false if not found stops and returns false if it hits another navigation command before it finds the first do or conditional command accounts for do_jump commands but never increments the jump's num_times_run (advance_current_nav_cmd is responsible for this)

Definition at line 1578 of file AP_Mission.cpp.

Referenced by advance_current_do_cmd().

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◆ get_next_ground_course_cd()

int32_t AP_Mission::get_next_ground_course_cd ( int32_t default_angle )

get the ground course of the next navigation leg in centidegrees from 0 36000. Return default_angle if next navigation leg cannot be determined

Definition at line 321 of file AP_Mission.cpp.

Referenced by get_prev_nav_cmd_with_wp_index().

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◆ get_next_nav_cmd()

bool AP_Mission::get_next_nav_cmd	(	uint16_t	start_index,
		Mission_Command &	cmd
	)

get_next_nav_cmd - gets next "navigation" command found at or after start_index returns true if found, false if not found (i.e. reached end of mission command list) accounts for do_jump commands

get_next_nav_cmd - gets next "navigation" command found at or after start_index returns true if found, false if not found (i.e. reached end of mission command list) accounts for do_jump commands but never increments the jump's num_times_run (advance_current_nav_cmd is responsible for this)

Definition at line 293 of file AP_Mission.cpp.

Referenced by get_next_ground_course_cd(), get_prev_nav_cmd_with_wp_index(), and starts_with_takeoff_cmd().

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◆ get_prev_nav_cmd_id()

uint16_t AP_Mission::get_prev_nav_cmd_id ( ) const

inline

get_prev_nav_cmd_id - returns the previous "navigation" command id if there was no previous nav command it returns AP_MISSION_CMD_ID_NONE we do not return the entire command to save on RAM

Definition at line 395 of file AP_Mission.h.

Referenced by AP_Landing::type_slope_verify_land().

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◆ get_prev_nav_cmd_index()

uint16_t AP_Mission::get_prev_nav_cmd_index ( ) const

inline

get_prev_nav_cmd_index - returns the previous "navigation" commands index (i.e. position in the mission command list) if there was no previous nav command it returns AP_MISSION_CMD_INDEX_NONE we do not return the entire command to save on RAM

Definition at line 400 of file AP_Mission.h.

◆ get_prev_nav_cmd_with_wp_index()

uint16_t AP_Mission::get_prev_nav_cmd_with_wp_index ( ) const

inline

get_prev_nav_cmd_with_wp_index - returns the previous "navigation" commands index that contains a waypoint (i.e. position in the mission command list) if there was no previous nav command it returns AP_MISSION_CMD_INDEX_NONE we do not return the entire command to save on RAM

Definition at line 405 of file AP_Mission.h.

Referenced by AP_Landing::restart_landing_sequence().

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◆ increment_jump_times_run()

void AP_Mission::increment_jump_times_run ( Mission_Command & cmd )

private

increment_jump_times_run - increments the recorded number of times the jump command has been run

Definition at line 1641 of file AP_Mission.cpp.

Referenced by get_next_cmd().

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◆ init()

void AP_Mission::init ( void )

init - initialises this library including checks the version in eeprom matches this library

public mission methods

Definition at line 45 of file AP_Mission.cpp.

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◆ init_jump_tracking()

void AP_Mission::init_jump_tracking ( )

private

jump handling methods

Definition at line 1606 of file AP_Mission.cpp.

Referenced by reset(), and set_current_cmd().

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◆ is_nav_cmd()

bool AP_Mission::is_nav_cmd ( const Mission_Command & cmd )

static

is_nav_cmd - returns true if the command's id is a "navigation" command, false if "do" or "conditional" command

Definition at line 284 of file AP_Mission.cpp.

Referenced by advance_current_nav_cmd(), get_next_do_cmd(), get_next_nav_cmd(), num_commands(), MissionTest::print_mission(), set_current_cmd(), MissionTest::start_cmd(), and MissionTest::verify_cmd().

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◆ jump_to_landing_sequence()

bool AP_Mission::jump_to_landing_sequence ( void )

Definition at line 1727 of file AP_Mission.cpp.

Referenced by last_change_time_ms().

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◆ last_change_time_ms()

uint32_t AP_Mission::last_change_time_ms ( void ) const

inline

Definition at line 451 of file AP_Mission.h.

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◆ mavlink_cmd_long_to_mission_cmd()

MAV_MISSION_RESULT AP_Mission::mavlink_cmd_long_to_mission_cmd	(	const mavlink_command_long_t &	packet,
		AP_Mission::Mission_Command &	cmd
	)

static

Definition at line 1019 of file AP_Mission.cpp.

Referenced by get_current_do_cmd().

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◆ mavlink_int_to_mission_cmd()

MAV_MISSION_RESULT AP_Mission::mavlink_int_to_mission_cmd	(	const mavlink_mission_item_int_t &	packet,
		AP_Mission::Mission_Command &	cmd
	)

static

Definition at line 577 of file AP_Mission.cpp.

Referenced by get_current_do_cmd(), GCS_MAVLINK::handle_mission_item(), and mavlink_to_mission_cmd().

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◆ mavlink_to_mission_cmd()

MAV_MISSION_RESULT AP_Mission::mavlink_to_mission_cmd	(	const mavlink_mission_item_t &	packet,
		AP_Mission::Mission_Command &	cmd
	)

static

Definition at line 922 of file AP_Mission.cpp.

Referenced by get_current_do_cmd(), GCS_MAVLINK::handle_mission_item(), and mavlink_cmd_long_to_mission_cmd().

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◆ mission_cmd_to_mavlink()

bool AP_Mission::mission_cmd_to_mavlink	(	const AP_Mission::Mission_Command &	cmd,
		mavlink_mission_item_t &	packet
	)

static

Definition at line 973 of file AP_Mission.cpp.

Referenced by get_current_do_cmd(), GCS_MAVLINK::handle_mission_request(), and DataFlash_Backend::Log_Write_Mission_Cmd().

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◆ mission_cmd_to_mavlink_int()

bool AP_Mission::mission_cmd_to_mavlink_int	(	const AP_Mission::Mission_Command &	cmd,
		mavlink_mission_item_int_t &	packet
	)

static

Definition at line 1037 of file AP_Mission.cpp.

Referenced by get_current_do_cmd(), GCS_MAVLINK::handle_mission_request(), and mission_cmd_to_mavlink().

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◆ num_commands()

uint16_t AP_Mission::num_commands ( ) const

inline

num_commands - returns total number of commands in the mission this number includes offset 0, the home location

Definition at line 330 of file AP_Mission.h.

Referenced by get_landing_sequence_start(), GCS_MAVLINK::handle_mission_item(), GCS_MAVLINK::handle_mission_request(), GCS_MAVLINK::handle_mission_request_list(), GCS_MAVLINK::handle_mission_write_partial_list(), DataFlash_Backend::Log_Write_Mission_Cmd(), MissionTest::print_mission(), and MissionTest::run_max_cmd_test().

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◆ num_commands_max()

uint16_t AP_Mission::num_commands_max ( void ) const

num_commands_max - returns maximum number of commands that can be stored

Definition at line 1684 of file AP_Mission.cpp.

Referenced by GCS_MAVLINK::handle_mission_count(), num_commands(), MissionTest::run_max_cmd_test(), MissionTest::setup(), and write_cmd_to_storage().

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◆ operator=()

AP_Mission& AP_Mission::operator= ( const AP_Mission & )

delete

Referenced by AP_Mission().

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◆ read_cmd_from_storage()

bool AP_Mission::read_cmd_from_storage	(	uint16_t	index,
		Mission_Command &	cmd
	)		const

load_cmd_from_storage - load command from storage true is return if successful

Definition at line 453 of file AP_Mission.cpp.

Referenced by get_current_do_cmd(), get_landing_sequence_start(), get_next_cmd(), GCS_MAVLINK::handle_mission_request(), MissionTest::print_mission(), AP_Landing::restart_landing_sequence(), resume(), and MissionTest::run_max_cmd_test().

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◆ replace_cmd()

bool AP_Mission::replace_cmd	(	uint16_t	index,
		Mission_Command &	cmd
	)

replace_cmd - replaces the command at position 'index' in the command list with the provided cmd replacing the current active command will have no effect until the command is restarted returns true if successfully replaced, false on failure

Definition at line 272 of file AP_Mission.cpp.

Referenced by GCS_MAVLINK::handle_mission_item(), num_commands(), and MissionTest::run_replace_cmd_test().

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◆ reset()

void AP_Mission::reset ( )

reset - reset mission to the first command

Definition at line 160 of file AP_Mission.cpp.

Referenced by num_commands(), and start().

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◆ resume()

void AP_Mission::resume ( )

resume - continues the mission execution from where we last left off previous running commands will be re-initialised

resume - continues the mission execution from where we last left off previous running commands will be re-initialized

Definition at line 86 of file AP_Mission.cpp.

Referenced by jump_to_landing_sequence(), num_commands(), MissionTest::run_resume_test(), MissionTest::run_set_current_cmd_while_stopped_test(), start_or_resume(), and AP_Landing::verify_abort_landing().

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◆ sanity_check_params()

MAV_MISSION_RESULT AP_Mission::sanity_check_params ( const mavlink_mission_item_int_t & packet )

staticprivate

sanity checks that the masked fields are not NaN's or infinite

Definition at line 533 of file AP_Mission.cpp.

Referenced by mavlink_int_to_mission_cmd().

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◆ set_current_cmd()

bool AP_Mission::set_current_cmd ( uint16_t index )

Definition at line 339 of file AP_Mission.cpp.

Referenced by AP_AdvancedFailsafe::check(), get_current_do_cmd(), GCS_MAVLINK::handle_mission_set_current(), jump_to_landing_sequence(), AP_Landing::restart_landing_sequence(), MissionTest::run_set_current_cmd_test(), and MissionTest::run_set_current_cmd_while_stopped_test().

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◆ start()

void AP_Mission::start ( void )

start - resets current commands to point to the beginning of the mission To-Do: should we validate the mission first and return true/false?

Definition at line 65 of file AP_Mission.cpp.

Referenced by num_commands(), resume(), MissionTest::run_mission_test(), MissionTest::run_replace_cmd_test(), MissionTest::run_resume_test(), MissionTest::run_set_current_cmd_test(), MissionTest::run_set_current_cmd_while_stopped_test(), and start_or_resume().

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◆ start_or_resume()

void AP_Mission::start_or_resume ( )

start_or_resume - if MIS_AUTORESTART=0 this will call resume(), otherwise it will call start()

Definition at line 150 of file AP_Mission.cpp.

Referenced by num_commands().

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◆ starts_with_takeoff_cmd()

bool AP_Mission::starts_with_takeoff_cmd ( )

check mission starts with a takeoff command

Definition at line 132 of file AP_Mission.cpp.

Referenced by num_commands().

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◆ state()

mission_state AP_Mission::state ( ) const

inline

status - returns the status of the mission (i.e. Mission_Started, Mission_Complete, Mission_Stopped

Definition at line 326 of file AP_Mission.h.

Referenced by jump_to_landing_sequence(), and MissionTest::run_set_current_cmd_while_stopped_test().

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◆ stop()

void AP_Mission::stop ( )

stop - stops mission execution. subsequent calls to update() will have no effect until the mission is started or resumed

Definition at line 79 of file AP_Mission.cpp.

Referenced by num_commands(), MissionTest::run_resume_test(), MissionTest::run_set_current_cmd_while_stopped_test(), and AP_Landing::verify_abort_landing().

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◆ truncate()

void AP_Mission::truncate ( uint16_t index )

truncate - truncate any mission items beyond given index

trucate - truncate any mission items beyond index

Definition at line 197 of file AP_Mission.cpp.

Referenced by GCS_MAVLINK::handle_mission_count(), and num_commands().

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◆ update()

void AP_Mission::update ( void )

update - ensures the command queues are loaded with the next command and calls main programs command_init and command_verify functions to progress the mission should be called at 10hz or higher

Definition at line 206 of file AP_Mission.cpp.

Referenced by num_commands(), MissionTest::run_mission_test(), MissionTest::run_replace_cmd_test(), MissionTest::run_resume_test(), MissionTest::run_set_current_cmd_test(), and MissionTest::run_set_current_cmd_while_stopped_test().

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◆ write_cmd_to_storage()

bool AP_Mission::write_cmd_to_storage	(	uint16_t	index,
		Mission_Command &	cmd
	)

write_cmd_to_storage - write a command to storage cmd.index is used to calculate the storage location true is returned if successful

write_cmd_to_storage - write a command to storage index is used to calculate the storage location true is returned if successful

Definition at line 494 of file AP_Mission.cpp.

Referenced by add_cmd(), get_current_do_cmd(), replace_cmd(), and write_home_to_storage().

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◆ write_home_to_storage()

void AP_Mission::write_home_to_storage ( )

write_home_to_storage - writes the special purpose cmd 0 (home) to storage home is taken directly from ahrs

Definition at line 525 of file AP_Mission.cpp.

Referenced by get_current_do_cmd().

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Member Data Documentation

◆ _ahrs

const AP_AHRS& AP_Mission::_ahrs

private

Definition at line 527 of file AP_Mission.h.

Referenced by get_landing_sequence_start(), read_cmd_from_storage(), and write_home_to_storage().

◆ _cmd_start_fn

mission_cmd_fn_t AP_Mission::_cmd_start_fn

private

Definition at line 535 of file AP_Mission.h.

Referenced by advance_current_do_cmd(), advance_current_nav_cmd(), resume(), and set_current_cmd().

◆ _cmd_total

AP_Int16 AP_Mission::_cmd_total

private

Definition at line 530 of file AP_Mission.h.

Referenced by add_cmd(), advance_current_do_cmd(), clear(), get_jump_times_run(), get_next_cmd(), get_next_do_cmd(), get_next_nav_cmd(), num_commands(), read_cmd_from_storage(), replace_cmd(), set_current_cmd(), truncate(), and update().

◆ _cmd_verify_fn

mission_cmd_fn_t AP_Mission::_cmd_verify_fn

private

Definition at line 536 of file AP_Mission.h.

Referenced by update().

◆ _do_cmd

struct Mission_Command AP_Mission::_do_cmd

private

Definition at line 541 of file AP_Mission.h.

Referenced by advance_current_do_cmd(), advance_current_nav_cmd(), AP_Mission(), clear(), get_current_do_cmd(), reset(), resume(), set_current_cmd(), and update().

◆ _flags

struct AP_Mission::Mission_Flags AP_Mission::_flags

private

Referenced by advance_current_do_cmd(), advance_current_nav_cmd(), AP_Mission(), clear(), complete(), reset(), resume(), set_current_cmd(), start(), state(), stop(), and update().

◆ _jump_tracking

struct AP_Mission::jump_tracking_struct AP_Mission::_jump_tracking[AP_MISSION_MAX_NUM_DO_JUMP_COMMANDS]

private

Referenced by get_jump_times_run(), increment_jump_times_run(), and init_jump_tracking().

◆ _last_change_time_ms

uint32_t AP_Mission::_last_change_time_ms

private

Definition at line 553 of file AP_Mission.h.

Referenced by init(), last_change_time_ms(), and write_cmd_to_storage().

◆ _mission_complete_fn

mission_complete_fn_t AP_Mission::_mission_complete_fn

private

Definition at line 537 of file AP_Mission.h.

Referenced by complete().

◆ _nav_cmd

struct Mission_Command AP_Mission::_nav_cmd

private

Definition at line 540 of file AP_Mission.h.

Referenced by advance_current_nav_cmd(), AP_Mission(), clear(), get_current_nav_cmd(), get_current_nav_index(), get_next_ground_course_cd(), reset(), resume(), set_current_cmd(), starts_with_takeoff_cmd(), and update().

◆ _options

AP_Int16 AP_Mission::_options

private

Definition at line 532 of file AP_Mission.h.

Referenced by init().

◆ _prev_nav_cmd_id

uint16_t AP_Mission::_prev_nav_cmd_id

private

Definition at line 542 of file AP_Mission.h.

Referenced by advance_current_nav_cmd(), get_prev_nav_cmd_id(), reset(), and set_current_cmd().

◆ _prev_nav_cmd_index

uint16_t AP_Mission::_prev_nav_cmd_index

private

Definition at line 543 of file AP_Mission.h.

Referenced by advance_current_nav_cmd(), get_prev_nav_cmd_index(), reset(), and set_current_cmd().

◆ _prev_nav_cmd_wp_index

uint16_t AP_Mission::_prev_nav_cmd_wp_index

private

Definition at line 544 of file AP_Mission.h.

Referenced by advance_current_nav_cmd(), get_prev_nav_cmd_with_wp_index(), reset(), and set_current_cmd().

◆ _restart

AP_Int8 AP_Mission::_restart

private

Definition at line 531 of file AP_Mission.h.

Referenced by start_or_resume(), and starts_with_takeoff_cmd().

◆ _storage

StorageAccess AP_Mission::_storage

staticprivate

Definition at line 467 of file AP_Mission.h.

Referenced by check_eeprom_version(), num_commands_max(), read_cmd_from_storage(), and write_cmd_to_storage().

◆ var_info

const AP_Param::GroupInfo AP_Mission::var_info

static

Initial value:

= {
    
    AP_GROUPINFO("TOTAL",  0, AP_Mission, _cmd_total, 0),
    
    AP_GROUPINFO("RESTART",  1, AP_Mission, _restart, AP_MISSION_RESTART_DEFAULT),
    
    AP_GROUPINFO("OPTIONS",  2, AP_Mission, _options, AP_MISSION_OPTIONS_DEFAULT),
    AP_GROUPEND
}

Definition at line 464 of file AP_Mission.h.

Referenced by AP_Mission().

The documentation for this class was generated from the following files:

libraries/AP_Mission/AP_Mission.h
libraries/AP_Mission/AP_Mission.cpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Enumeration Documentation

◆ mission_state

Constructor & Destructor Documentation

◆ AP_Mission() [1/2]

◆ AP_Mission() [2/2]

Member Function Documentation

◆ add_cmd()

◆ advance_current_do_cmd()

◆ advance_current_nav_cmd()

◆ check_eeprom_version()

◆ clear()

◆ complete()

◆ FUNCTOR_TYPEDEF() [1/2]

◆ FUNCTOR_TYPEDEF() [2/2]

◆ get_current_do_cmd()

◆ get_current_nav_cmd()

◆ get_current_nav_index()

◆ get_jump_times_run()

◆ get_landing_sequence_start()

◆ get_next_cmd()

◆ get_next_do_cmd()

◆ get_next_ground_course_cd()

◆ get_next_nav_cmd()

◆ get_prev_nav_cmd_id()

◆ get_prev_nav_cmd_index()

◆ get_prev_nav_cmd_with_wp_index()

◆ increment_jump_times_run()

◆ init()

◆ init_jump_tracking()

◆ is_nav_cmd()

◆ jump_to_landing_sequence()

◆ last_change_time_ms()

◆ mavlink_cmd_long_to_mission_cmd()

◆ mavlink_int_to_mission_cmd()

◆ mavlink_to_mission_cmd()

◆ mission_cmd_to_mavlink()

◆ mission_cmd_to_mavlink_int()

◆ num_commands()

◆ num_commands_max()

◆ operator=()

◆ read_cmd_from_storage()

◆ replace_cmd()

◆ reset()

◆ resume()

◆ sanity_check_params()

◆ set_current_cmd()

◆ start()

◆ start_or_resume()

◆ starts_with_takeoff_cmd()

◆ state()

◆ stop()

◆ truncate()

◆ update()

◆ write_cmd_to_storage()

◆ write_home_to_storage()

Member Data Documentation

◆ _ahrs

◆ _cmd_start_fn

◆ _cmd_total

◆ _cmd_verify_fn

◆ _do_cmd

◆ _flags

◆ _jump_tracking

◆ _last_change_time_ms

◆ _mission_complete_fn

◆ _nav_cmd

◆ _options

◆ _prev_nav_cmd_id

◆ _prev_nav_cmd_index

◆ _prev_nav_cmd_wp_index