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Code Issues Wiki Activity

add mission index adjustment + fixes

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This commit is contained in:
breadoven 2022-09-03 23:47:25 +01:00
parent a5fe016eab
commit b37548c418
8 changed files with 50 additions and 32 deletions
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34
src/main/navigation/navigation.c
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@ -40,6 +40,7 @@
#include "fc/rc_modes.h"
#include "fc/runtime_config.h"
#ifdef USE_MULTI_MISSION
#include "fc/rc_adjustments.h"
#include "fc/cli.h"
#endif
#include "fc/settings.h"
@ -3149,19 +3150,16 @@ void setWaypoint(uint8_t wpNumber, const navWaypoint_t * wpData)
void resetWaypointList(void)
{
/* Can only reset waypoint list if not armed */
if (!ARMING_FLAG(ARMED)) {
posControl.waypointCount = 0;
posControl.waypointListValid = false;
posControl.geoWaypointCount = 0;
wpMissionStartIndex = 0;
posControl.loadedMissionWPCount = 0;
posControl.waypointCount = 0;
posControl.waypointListValid = false;
posControl.geoWaypointCount = 0;
wpMissionStartIndex = 0;
posControl.loadedMissionWPCount = 0;
#ifdef USE_MULTI_MISSION
posControl.totalMultiMissionWpCount = 0;
posControl.loadedMultiMissionIndex = 0;
posControl.multiMissionCount = 0;
posControl.totalMultiMissionWpCount = 0;
posControl.loadedMultiMissionIndex = 0;
posControl.multiMissionCount = 0;
#endif
}
}
bool isWaypointListValid(void)
@ -3177,7 +3175,7 @@ int getWaypointCount(void)
void selectMultiMissionIndex(int8_t increment)
{
if (posControl.multiMissionCount > 1) { // stick selection only active when multi mission loaded
navConfigMutable()->general.waypoint_multi_mission_index = constrain(navConfigMutable()->general.waypoint_multi_mission_index + increment, 0, posControl.multiMissionCount);
navConfigMutable()->general.waypoint_multi_mission_index = constrain(navConfigMutable()->general.waypoint_multi_mission_index + increment, 1, posControl.multiMissionCount);
}
}
@ -3211,7 +3209,7 @@ void loadSelectedMultiMission(uint8_t missionIndex)
}
posControl.loadedMultiMissionIndex = posControl.multiMissionCount ? missionIndex : 0;
posControl.wpMissionRestart = true;
posControl.activeWaypointIndex = wpMissionStartIndex;
}
bool updateWpMissionChange(void)
@ -3226,7 +3224,7 @@ bool updateWpMissionChange(void)
}
uint8_t setMissionIndex = navConfig()->general.waypoint_multi_mission_index;
if (!IS_RC_MODE_ACTIVE(BOXCHANGEMISSION)) {
if (!(IS_RC_MODE_ACTIVE(BOXCHANGEMISSION) || isAdjustmentFunctionSelected(ADJUSTMENT_NAV_WP_MULTI_MISSION_INDEX))) {
/* reload mission if mission index changed or wpMissionStartIndex not aligned with mission index > 1
* (wpMissionStartIndex may have been set to 0 on previous disarm) */
if (posControl.loadedMultiMissionIndex != setMissionIndex || (setMissionIndex > 1 && wpMissionStartIndex == 0)) {
@ -3270,13 +3268,8 @@ bool checkMissionCount(int8_t waypoint)
#ifdef NAV_NON_VOLATILE_WAYPOINT_STORAGE
bool loadNonVolatileWaypointList(bool clearIfLoaded)
{
#ifdef USE_MULTI_MISSION
/* multi_mission_index 0 only used for non NVM missions - don't load.
* Don't load if mission planner WP count > 0 */
if (ARMING_FLAG(ARMED) || !navConfig()->general.waypoint_multi_mission_index || posControl.wpPlannerActiveWPIndex) {
#else
/* Don't load if armed or mission planner active */
if (ARMING_FLAG(ARMED) || posControl.wpPlannerActiveWPIndex) {
#endif
return false;
}
@ -3978,7 +3971,6 @@ void missionPlannerSetWaypoint(void)
posControl.waypointList[posControl.wpPlannerActiveWPIndex].p3 = 1; // use absolute altitude datum
posControl.waypointList[posControl.wpPlannerActiveWPIndex].flag = NAV_WP_FLAG_LAST;
posControl.waypointListValid = true;
wpMissionStartIndex = 0;
if (posControl.wpPlannerActiveWPIndex) {
posControl.waypointList[posControl.wpPlannerActiveWPIndex - 1].flag = 0; // rollling reset of previous end of mission flag when new WP added