[return] reset_stage attribute

paparazzi · Oct 7, 2016 · eac214d · eac214d
1 parent 81ad93f
commit eac214d
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Showing 3 changed files with 4 additions and 4 deletions.
diff --git a/conf/flight_plans/flight_plan.dtd b/conf/flight_plans/flight_plan.dtd
@@ -310,4 +310,5 @@ default_value CDATA #IMPLIED>
 
 <!ATTLIST header>
 
-<!ATTLIST return>
+<!ATTLIST return
+reset_stage CDATA "0">
diff --git a/sw/airborne/subsystems/navigation/common_flight_plan.h b/sw/airborne/subsystems/navigation/common_flight_plan.h
@@ -54,8 +54,7 @@ void nav_goto_block(uint8_t block_id);
 
 #define Label(x) label_ ## x:
 #define Goto(x) { goto label_ ## x; }
-#define Return() { nav_block=last_block; nav_stage=last_stage; block_time=0;}
-#define ReturnToStartPrevBlock() { nav_block=last_block; nav_stage=0; block_time=0;}
+#define Return(RESET_STAGE) { nav_block=last_block; if (RESET_STAGE==1) {nav_stage=0;} else {nav_stage=last_stage;} block_time=0;}
 
 #define And(x, y) ((x) && (y))
 #define Or(x, y) ((x) || (y))

diff --git a/sw/tools/generators/gen_flight_plan.ml b/sw/tools/generators/gen_flight_plan.ml
@@ -324,7 +324,7 @@ let rec print_stage = fun index_of_waypoints x ->
     match String.lowercase (Xml.tag x) with
         "return" ->
           stage ();
-          lprintf "Return();\n";
+          lprintf "Return(%s);\n" (ExtXml.attrib x "reset_stage");
           lprintf "break;\n"
       | "goto" ->
         stage ();