int mission_run()
{
// current element
struct _mission_element *el = NULL;
if ((el = mission_get()) == NULL) {
// TODO do something special like a waiting circle before ending the mission ?
return false; // end of mission
}
bool el_running = false;
switch (el->type) {
case MissionWP:
el_running = mission_nav_wp(&(el->element.mission_wp));
break;
case MissionCircle:
el_running = mission_nav_circle(&(el->element.mission_circle));
break;
case MissionSegment:
el_running = mission_nav_segment(&(el->element.mission_segment));
break;
case MissionPath:
el_running = mission_nav_path(&(el->element.mission_path));
break;
case MissionCustom:
el_running = mission_nav_custom(&(el->element.mission_custom), mission.element_time < dt_navigation);
break;
default:
// invalid type or pattern not yet handled
break;
}
// increment element_time
mission.element_time += dt_navigation;
// test if element is finished or element time is elapsed
if (!el_running || (el->duration > 0. && mission.element_time >= el->duration)) {
// reset timer
mission.element_time = 0.;
// go to next element
mission.current_idx = (mission.current_idx + 1) % MISSION_ELEMENT_NB;
}
return true;
}
int mission_run()
{
// current element
struct _mission_element *el = NULL;
if ((el = mission_get()) == NULL) {
mission.element_time = 0;
mission.current_idx = 0;
return FALSE; // end of mission
}
bool_t el_running = FALSE;
switch (el->type) {
case MissionWP:
el_running = mission_nav_wp(el);
break;
case MissionCircle:
el_running = mission_nav_circle(el);
break;
case MissionSegment:
el_running = mission_nav_segment(el);
break;
case MissionPath:
el_running = mission_nav_path(el);
break;
default:
// invalid type or pattern not yet handled
break;
}
// increment element_time
mission.element_time += dt_navigation;
if (!el_running) {
// reset timer
mission.element_time = 0.;
// go to next element
mission.current_idx = (mission.current_idx + 1) % MISSION_ELEMENT_NB;
}
return TRUE;
}