Navigator MissionBlock split is_mission_item_reached()

PX4 · Feb 14, 2018 · ef16b48 · ef16b48
1 parent c45b316
commit ef16b48
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Showing 2 changed files with 8 additions and 2 deletions.
diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
@@ -116,9 +116,13 @@ MissionBlock::is_mission_item_reached()
 		return true;
 
 	default:
-		/* do nothing, this is a 3D waypoint */
-		break;
+		return position_achieved(_mission_item);
 	}
+}
+
+bool
+MissionBlock::position_achieved(const mission_item_s &item)
+{
 
 	hrt_abstime now = hrt_absolute_time();
 

diff --git a/src/modules/navigator/mission_block.h b/src/modules/navigator/mission_block.h
@@ -77,6 +77,8 @@ class MissionBlock : public NavigatorMode
 	 */
 	bool is_mission_item_reached();
 
+	bool position_achieved(const mission_item_s &item);
+
 	/**
 	 * Reset all reached flags
 	 */
-Original file line number
+Diff line change
@@ Expand Up / @@ -77,6 +77,8 @@ class MissionBlock : public NavigatorMode @@
     	 */
     	bool is_mission_item_reached();
+    	bool position_achieved(const mission_item_s &item);
     	/**
     	 * Reset all reached flags
     	 */
@@ Expand Down @@