navigator / mission item: Compress fields into bitfield

src/modules/mavlink/mavlink_mission.cpp

@@ -912,16 +912,14 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
 
 		case MAV_CMD_NAV_LOITER_UNLIM:
 			mission_item->nav_cmd = NAV_CMD_LOITER_UNLIMITED;
-			mission_item->loiter_radius = fabsf(mavlink_mission_item->param3);
-			mission_item->loiter_direction = (mavlink_mission_item->param3 > 0) ? 1 : -1; /* 1 if positive CW, -1 if negative CCW */
+			mission_item->loiter_radius = mavlink_mission_item->param3;
 			mission_item->yaw = _wrap_pi(mavlink_mission_item->param4 * M_DEG_TO_RAD_F);
 			break;
 
 		case MAV_CMD_NAV_LOITER_TIME:
 			mission_item->nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
 			mission_item->time_inside = mavlink_mission_item->param1;
-			mission_item->loiter_radius = fabsf(mavlink_mission_item->param3);
-			mission_item->loiter_direction = (mavlink_mission_item->param3 > 0) ? 1 : -1; /* 1 if positive CW, -1 if negative CCW */
+			mission_item->loiter_radius = mavlink_mission_item->param3;
 			mission_item->loiter_exit_xtrack = (mavlink_mission_item->param4 > 0) ? true : false;
 			break;
 
@@ -940,8 +938,7 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
 		case MAV_CMD_NAV_LOITER_TO_ALT:
 			mission_item->nav_cmd = NAV_CMD_LOITER_TO_ALT;
 			mission_item->force_heading = (mavlink_mission_item->param1 > 0) ? true : false;
-			mission_item->loiter_radius = fabsf(mavlink_mission_item->param2);
-			mission_item->loiter_direction = (mavlink_mission_item->param2 > 0) ? 1 : -1; /* 1 if positive CW, -1 if negative CCW */
+			mission_item->loiter_radius = mavlink_mission_item->param2;
 			mission_item->loiter_exit_xtrack = (mavlink_mission_item->param4 > 0) ? true : false;
 			break;
 
@@ -1097,13 +1094,13 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *
 			break;
 
 		case NAV_CMD_LOITER_UNLIMITED:
-			mavlink_mission_item->param3 = mission_item->loiter_radius * (float)mission_item->loiter_direction;
+			mavlink_mission_item->param3 = mission_item->loiter_radius;
 			mavlink_mission_item->param4 = mission_item->yaw * M_RAD_TO_DEG_F;
 			break;
 
 		case NAV_CMD_LOITER_TIME_LIMIT:
 			mavlink_mission_item->param1 = mission_item->time_inside;
-			mavlink_mission_item->param3 = mission_item->loiter_radius * (float)mission_item->loiter_direction;
+			mavlink_mission_item->param3 = mission_item->loiter_radius;
 			mavlink_mission_item->param4 = mission_item->loiter_exit_xtrack;
 			break;
 
@@ -1119,7 +1116,7 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *
 
 		case NAV_CMD_LOITER_TO_ALT:
 			mavlink_mission_item->param1 = mission_item->force_heading;
-			mavlink_mission_item->param2 = mission_item->loiter_radius * (float)mission_item->loiter_direction;
+			mavlink_mission_item->param2 = mission_item->loiter_radius;
 			mavlink_mission_item->param4 = mission_item->loiter_exit_xtrack;
 			break;
 

src/modules/navigator/datalinkloss.cpp

@@ -124,7 +124,6 @@ DataLinkLoss::set_dll_item()
 		_mission_item.altitude = _param_commsholdalt.get();
 		_mission_item.yaw = NAN;
 		_mission_item.loiter_radius = _navigator->get_loiter_radius();
-		_mission_item.loiter_direction = 1;
 		_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
 		_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
 		_mission_item.time_inside = _param_commsholdwaittime.get() < 0.0f ? 0.0f : _param_commsholdwaittime.get();
@@ -142,7 +141,6 @@ DataLinkLoss::set_dll_item()
 		_mission_item.altitude = _param_airfieldhomealt.get();
 		_mission_item.yaw = NAN;
 		_mission_item.loiter_radius = _navigator->get_loiter_radius();
-		_mission_item.loiter_direction = 1;
 		_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
 		_mission_item.time_inside = _param_airfieldhomewaittime.get() < 0.0f ? 0.0f : _param_airfieldhomewaittime.get();
 		_mission_item.acceptance_radius = _navigator->get_acceptance_radius();

src/modules/navigator/enginefailure.cpp

@@ -113,7 +113,6 @@ EngineFailure::set_ef_item()
 		_mission_item.altitude = _navigator->get_home_position()->alt - 1000.0f;
 		_mission_item.yaw = NAN;
 		_mission_item.loiter_radius = _navigator->get_loiter_radius();
-		_mission_item.loiter_direction = 1;
 		_mission_item.nav_cmd = NAV_CMD_LOITER_UNLIMITED;
 		_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
 		_mission_item.pitch_min = 0.0f;

src/modules/navigator/mission.cpp

@@ -1008,7 +1008,6 @@ Mission::do_abort_landing()
 	_mission_item.altitude = alt_sp;
 	_mission_item.yaw = NAN;
 	_mission_item.loiter_radius = _navigator->get_loiter_radius();
-	_mission_item.loiter_direction = 1;
 	_mission_item.nav_cmd = NAV_CMD_LOITER_UNLIMITED;
 	_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
 	_mission_item.autocontinue = false;

src/modules/navigator/mission_block.cpp

@@ -207,7 +207,7 @@ MissionBlock::is_mission_item_reached()
 			 * Therefore the item is marked as reached once the system reaches the loiter
 			 * radius (+ some margin). Time inside and turn count is handled elsewhere.
 			 */
-			if (dist >= 0.0f && dist <= _navigator->get_acceptance_radius(_mission_item.loiter_radius * 1.2f)
+			if (dist >= 0.0f && dist <= _navigator->get_acceptance_radius(fabsf(_mission_item.loiter_radius) * 1.2f)
 				&& dist_z <= _navigator->get_altitude_acceptance_radius()) {
 
 				_waypoint_position_reached = true;
@@ -235,7 +235,7 @@ MissionBlock::is_mission_item_reached()
 								_navigator->get_global_position()->alt,
 								&dist_xy, &dist_z);
 
-				if (dist >= 0.0f && dist <= _navigator->get_acceptance_radius(_mission_item.loiter_radius * 1.2f)
+				if (dist >= 0.0f && dist <= _navigator->get_acceptance_radius(fabsf(_mission_item.loiter_radius) * 1.2f)
 					&& dist_z <= _navigator->get_altitude_acceptance_radius()) {
 
 					// now set the loiter to the final altitude in the NAV_CMD_LOITER_TO_ALT mission item
@@ -244,7 +244,7 @@ MissionBlock::is_mission_item_reached()
 				}
 
 			} else {
-				if (dist >= 0.0f && dist <= _navigator->get_acceptance_radius(_mission_item.loiter_radius * 1.2f)
+				if (dist >= 0.0f && dist <= _navigator->get_acceptance_radius(fabsf(_mission_item.loiter_radius) * 1.2f)
 					&& dist_z <= _navigator->get_altitude_acceptance_radius()) {
 
 					_waypoint_position_reached = true;
@@ -483,9 +483,9 @@ MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *ite
 	sp->lon = item->lon;
 	sp->alt = item->altitude_is_relative ? item->altitude + _navigator->get_home_position()->alt : item->altitude;
 	sp->yaw = item->yaw;
-	sp->loiter_radius = (item->loiter_radius > NAV_EPSILON_POSITION) ? item->loiter_radius :
+	sp->loiter_radius = (fabsf(item->loiter_radius) > NAV_EPSILON_POSITION) ? fabsf(item->loiter_radius) :
 				_navigator->get_loiter_radius();
-	sp->loiter_direction = item->loiter_direction;
+	sp->loiter_direction = (item->loiter_radius > 0) ? 1 : -1;
 	sp->pitch_min = item->pitch_min;
 	sp->acceptance_radius = item->acceptance_radius;
 	sp->disable_mc_yaw_control = false;
@@ -573,7 +573,6 @@ MissionBlock::set_loiter_item(struct mission_item_s *item, float min_clearance)
 		item->altitude_is_relative = false;
 		item->yaw = NAN;
 		item->loiter_radius = _navigator->get_loiter_radius();
-		item->loiter_direction = 1;
 		item->acceptance_radius = _navigator->get_acceptance_radius();
 		item->time_inside = 0.0f;
 		item->pitch_min = 0.0f;
@@ -609,7 +608,6 @@ MissionBlock::set_follow_target_item(struct mission_item_s *item, float min_clea
 	item->altitude_is_relative = false;
 	item->yaw = yaw;
 	item->loiter_radius = _navigator->get_loiter_radius();
-	item->loiter_direction = 1;
 	item->acceptance_radius = _navigator->get_acceptance_radius();
 	item->time_inside = 0.0f;
 	item->pitch_min = 0.0f;
@@ -631,7 +629,6 @@ MissionBlock::set_takeoff_item(struct mission_item_s *item, float abs_altitude,
 
 	item->yaw = NAN;
 	item->loiter_radius = _navigator->get_loiter_radius();
-	item->loiter_direction = 1;
 	item->time_inside = 0.0f;
 	item->pitch_min = min_pitch;
 	item->autocontinue = false;
@@ -673,7 +670,6 @@ MissionBlock::set_land_item(struct mission_item_s *item, bool at_current_locatio
 	item->altitude = 0;
 	item->altitude_is_relative = false;
 	item->loiter_radius = _navigator->get_loiter_radius();
-	item->loiter_direction = 1;
 	item->acceptance_radius = _navigator->get_acceptance_radius();
 	item->time_inside = 0.0f;
 	item->pitch_min = 0.0f;
@@ -691,7 +687,6 @@ MissionBlock::set_current_position_item(struct mission_item_s *item)
 	item->altitude = _navigator->get_global_position()->alt;
 	item->yaw = NAN;
 	item->loiter_radius = _navigator->get_loiter_radius();
-	item->loiter_direction = 1;
 	item->acceptance_radius = _navigator->get_acceptance_radius();
 	item->time_inside = 0.0f;
 	item->pitch_min = 0.0f;
@@ -709,7 +704,6 @@ MissionBlock::set_idle_item(struct mission_item_s *item)
 	item->altitude = _navigator->get_home_position()->alt;
 	item->yaw = NAN;
 	item->loiter_radius = _navigator->get_loiter_radius();
-	item->loiter_direction = 1;
 	item->acceptance_radius = _navigator->get_acceptance_radius();
 	item->time_inside = 0.0f;
 	item->pitch_min = 0.0f;

src/modules/navigator/navigation.h

@@ -109,7 +109,7 @@ struct mission_item_s {
 				float pitch_min;		/**< minimal pitch angle for fixed wing takeoff waypoints */
 			};
 			float acceptance_radius;	/**< default radius in which the mission is accepted as reached in meters */
-			float loiter_radius;		/**< loiter radius in meters, 0 for a VTOL to hover     */
+			float loiter_radius;		/**< loiter radius in meters, 0 for a VTOL to hover, negative for counter-clockwise */
 			float yaw;					/**< in radians NED -PI..+PI, NAN means don't change yaw		*/
 			float ___lat_float;			/**< padding */
 			float ___lon_float;			/**< padding */
@@ -117,17 +117,18 @@ struct mission_item_s {
 		};
 		float params[7];				/**< array to store mission command values for MAV_FRAME_MISSION ***/
 	};
-	enum NAV_CMD nav_cmd;				/**< navigation command					*/
+	uint16_t nav_cmd;					/**< navigation command					*/
 	int16_t do_jump_mission_index;		/**< index where the do jump will go to                 */
 	uint16_t do_jump_repeat_count;		/**< how many times do jump needs to be done            */
 	uint16_t do_jump_current_count;		/**< count how many times the jump has been done	*/
-	uint16_t origin;					/**< where the waypoint has been generated		*/
-	bool loiter_exit_xtrack;			/**< exit xtrack location: 0 for center of loiter wp, 1 for exit location */
-	bool force_heading;					/**< heading needs to be reached ***/
-	bool altitude_is_relative;			/**< true if altitude is relative from start point	*/
-	bool autocontinue;					/**< true if next waypoint should follow after this one */
-	int8_t frame;						/**< mission frame ***/
-	int8_t loiter_direction;			/**< 1: positive / clockwise, -1, negative.		*/
+	struct {
+		uint16_t frame : 4,				/**< mission frame ***/
+		origin : 3,						/**< how the mission item was generated */
+		loiter_exit_xtrack : 1,			/**< exit xtrack location: 0 for center of loiter wp, 1 for exit location */
+		force_heading : 1,				/**< heading needs to be reached ***/
+		altitude_is_relative : 1,		/**< true if altitude is relative from start point	*/
+		autocontinue : 1;				/**< true if next waypoint should follow after this one */
+	};
 };
 #pragma pack(pop)
 #include <uORB/topics/mission.h>

src/modules/navigator/rcloss.cpp

@@ -114,7 +114,6 @@ RCLoss::set_rcl_item()
 		_mission_item.altitude_is_relative = false;
 		_mission_item.yaw = NAN;
 		_mission_item.loiter_radius = _navigator->get_loiter_radius();
-		_mission_item.loiter_direction = 1;
 		_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
 		_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
 		_mission_item.time_inside = _param_loitertime.get() < 0.0f ? 0.0f : _param_loitertime.get();

src/modules/navigator/rtl.cpp

@@ -155,7 +155,6 @@ RTL::set_rtl_item()
 		_mission_item.altitude = climb_alt;
 		_mission_item.yaw = NAN;
 		_mission_item.loiter_radius = _navigator->get_loiter_radius();
-		_mission_item.loiter_direction = 1;
 		_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
 		_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
 		_mission_item.time_inside = 0.0f;
@@ -197,7 +196,6 @@ RTL::set_rtl_item()
 			}
 		}
 		_mission_item.loiter_radius = _navigator->get_loiter_radius();
-		_mission_item.loiter_direction = 1;
 		_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
 		_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
 		_mission_item.time_inside = 0.0f;
@@ -244,7 +242,6 @@ RTL::set_rtl_item()
 		}
 
 		_mission_item.loiter_radius = _navigator->get_loiter_radius();
-		_mission_item.loiter_direction = 1;
 		_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
 		_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
 		_mission_item.time_inside = 0.0f;
@@ -269,7 +266,6 @@ RTL::set_rtl_item()
 		// don't change altitude
 		_mission_item.yaw = _navigator->get_home_position()->yaw;
 		_mission_item.loiter_radius = _navigator->get_loiter_radius();
-		_mission_item.loiter_direction = 1;
 		_mission_item.nav_cmd = autoland ? NAV_CMD_LOITER_TIME_LIMIT : NAV_CMD_LOITER_UNLIMITED;
 		_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
 		_mission_item.time_inside = _param_land_delay.get() < 0.0f ? 0.0f : _param_land_delay.get();