Exemplos de mission_nav_segment em C++ (Cpp)

Exemplo n.º 1

Arquivo: mission_fw_nav.c Projeto: amtcvx/paparazzi

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;
}

Exemplo n.º 2

Arquivo: mission_rotorcraft_nav.c Projeto: AULA-PPZ/paparazzi

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;
}