Fix: replay the mission cached items only upon reaching resume waypoint #23484
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sfuhrer
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Aug 13, 2024
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Thanks for your contribution, it works correctly in my simulation. An alternative would be to add a _work_item_type != WorkItemType::WORK_ITEM_TYPE_CLIMB after the check for is_mission_item_reached_or_completed(), as it's really only the inserted climb mission item that brings the logic out of order. But your proposed solution seems a bit more robust.
Split camera mode mission items from gimbal ones so to have a finer control over the relative replays
vertiq-jordan
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Aug 21, 2024
…ching resume waypoint (PX4#23484) * Fix: replay the mission cached items only upon reaching resume waypoint * Refactoring Split camera mode mission items from gimbal ones so to have a finer control over the relative replays * Chore: fix formatting --------- Co-authored-by: Silvan Fuhrer <[email protected]>
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Solved Problem
Upon mission resume (e.g., after a RTL), the gimbal would immediately assume its previous configuration instead of waiting having reached a mission waypoint.
Similarly the camera would start triggering from take-off instead of from the last reached mission waypoint
Solution
Store the index of the last mission item reached before the mission interruption, then replay the cached drone commands only after having reached such mission item
Alternatives
We could also used the existing
_inactivation_indexvariable but it has a slightly different meaning and has a different reset behaviourTest coverage