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Plane: Fix RTL behaviour when MIS_RESTART = 1 and DO_LAND_START present. #13652

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merged 2 commits into from
Feb 24, 2020
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Plane: Fix RTL behaviour when MIS_RESTART = 1 and DO_LAND_START present. #13652

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27ee1c8
AP_Mission: Added force resume for when MIS_RESTART=1
MattKear Feb 23, 2020
53c93b1
Plane: force mission resume on RTL when DO_LAND_START in mission
MattKear Feb 23, 2020
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2 changes: 2 additions & 0 deletions ArduPlane/ArduPlane.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -467,6 +467,7 @@ void Plane::update_navigation()
// we've reached the RTL point, see if we have a landing sequence
if (mission.jump_to_landing_sequence()) {
// switch from RTL -> AUTO
mission.set_force_resume(true);
set_mode(mode_auto, ModeReason::UNKNOWN);
}

Expand All @@ -479,6 +480,7 @@ void Plane::update_navigation()
// Go directly to the landing sequence
if (mission.jump_to_landing_sequence()) {
// switch from RTL -> AUTO
mission.set_force_resume(true);
set_mode(mode_auto, ModeReason::UNKNOWN);
}

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3 changes: 2 additions & 1 deletion libraries/AP_Mission/AP_Mission.cpp
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Expand Up @@ -163,10 +163,11 @@ bool AP_Mission::starts_with_takeoff_cmd()
/// start_or_resume - if MIS_AUTORESTART=0 this will call resume(), otherwise it will call start()
void AP_Mission::start_or_resume()
{
if (_restart) {
if (_restart == 1 && !_force_resume) {
start();
} else {
resume();
_force_resume = false;
}
}

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5 changes: 5 additions & 0 deletions libraries/AP_Mission/AP_Mission.h
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Expand Up @@ -305,6 +305,7 @@ class AP_Mission {
_flags.nav_cmd_loaded = false;
_flags.do_cmd_loaded = false;
_flags.in_landing_sequence = false;
_force_resume = false;
}

// get singleton instance
Expand Down Expand Up @@ -479,6 +480,9 @@ class AP_Mission {
// set in_landing_sequence flag
void set_in_landing_sequence_flag(bool flag) { _flags.in_landing_sequence = flag; }

// force mission to resume when start_or_resume() is called
void set_force_resume(bool force_resume) { _force_resume = force_resume; }

// get a reference to the AP_Mission semaphore, allowing an external caller to lock the
// storage while working with multiple waypoints
HAL_Semaphore &get_semaphore(void) {
Expand Down Expand Up @@ -582,6 +586,7 @@ class AP_Mission {
uint16_t _prev_nav_cmd_id; // id of the previous "navigation" command. (WAYPOINT, LOITER_TO_ALT, ect etc)
uint16_t _prev_nav_cmd_index; // index of the previous "navigation" command. Rarely used which is why we don't store the whole command
uint16_t _prev_nav_cmd_wp_index; // index of the previous "navigation" command that contains a waypoint. Rarely used which is why we don't store the whole command
bool _force_resume; // when set true it forces mission to resume irrespective of MIS_RESTART param.

// jump related variables
struct jump_tracking_struct {
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