Rover: create Mission object

APMrover2/APMrover2.pde

@@ -71,6 +71,7 @@
 #include <AP_InertialSensor.h> // Inertial Sensor (uncalibated IMU) Library
 #include <AP_AHRS.h>         // ArduPilot Mega DCM Library
 #include <AP_NavEKF.h>
+#include <AP_Mission.h>     // Mission command library
 #include <PID.h>            // PID library
 #include <RC_Channel.h>     // RC Channel Library
 #include <AP_RangeFinder.h>	// Range finder library
@@ -298,6 +299,15 @@ static AP_Navigation *nav_controller = &L1_controller;
 // steering controller
 static AP_SteerController steerController(ahrs);
 
+////////////////////////////////////////////////////////////////////////////////
+// Mission library
+// forward declaration to avoid compiler errors
+////////////////////////////////////////////////////////////////////////////////
+static bool start_command(const AP_Mission::Mission_Command& cmd);
+static bool verify_command(const AP_Mission::Mission_Command& cmd);
+static void exit_mission();
+AP_Mission mission(ahrs, &start_command, &verify_command, &exit_mission);
+
 #if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
 SITL sitl;
 #endif
@@ -421,14 +431,6 @@ static bool have_position;
 
 static bool rtl_complete = false;
 
-// There may be two active commands in Auto mode.  
-// This indicates the active navigation command by index number
-static uint8_t	nav_command_index;					
-// This indicates the active non-navigation command by index number
-static uint8_t	non_nav_command_index;				
-// This is the command type (eg navigate to waypoint) of the active navigation command
-static uint8_t	nav_command_ID		= NO_COMMAND;	
-static uint8_t	non_nav_command_ID	= NO_COMMAND;	
 
 // ground speed error in m/s
 static float	groundspeed_error;	
@@ -471,9 +473,6 @@ static int16_t throttle_last = 0, throttle = 500;
 // When CH7 goes LOW PWM from HIGH PWM, this value will have been set true
 // This allows advanced functionality to know when to execute
 static bool ch7_flag;
-// This register tracks the current Mission Command index when writing
-// a mission using CH7 in flight
-static int8_t CH7_wp_index;
 
 ////////////////////////////////////////////////////////////////////////////////
 // Battery Sensors
@@ -515,17 +514,12 @@ static const struct	Location &home = ahrs.get_home();
 // Flag for if we have g_gps lock and have set the home location
 static bool	home_is_set;
 // The location of the previous waypoint.  Used for track following and altitude ramp calculations
-static struct 	Location prev_WP;
+static struct 	AP_Mission::Mission_Command prev_WP;
 // The location of the current/active waypoint.  Used for track following
-static struct 	Location next_WP;
+static struct 	AP_Mission::Mission_Command next_WP;
 // The location of the active waypoint in Guided mode.
 static struct  	Location guided_WP;
 
-// The location structure information from the Nav command being processed
-static struct 	Location next_nav_command;	
-// The location structure information from the Non-Nav command being processed
-static struct 	Location next_nonnav_command;
-
 ////////////////////////////////////////////////////////////////////////////////
 // IMU variables
 ////////////////////////////////////////////////////////////////////////////////
@@ -967,7 +961,7 @@ static void update_navigation()
         break;
 
     case AUTO:
-		verify_commands();
+		mission.update();
         break;
 
     case RTL:

APMrover2/Parameters.h

@@ -62,6 +62,7 @@ public:
         k_param_compass_enabled = 130,
         k_param_steering_learn, // unused
         k_param_NavEKF,  // Extended Kalman Filter Inertial Navigation Group
+        k_param_mission, // mission library
 
         // 140: battery controls
         k_param_battery_monitoring = 140,   // deprecated, can be deleted
@@ -137,8 +138,8 @@ public:
         //
         // 220: Waypoint data
         //
-        k_param_command_total = 220,
-        k_param_command_index,
+        k_param_command_total = 220,    // unused
+        k_param_command_index,          // unused
         k_param_waypoint_radius,
 
         //
@@ -268,8 +269,6 @@ public:
     
     // Waypoints
     //
-    AP_Int8     command_total;
-    AP_Int8     command_index;
     AP_Float    waypoint_radius;
 
     // PID controllers

APMrover2/Parameters.pde

@@ -390,9 +390,6 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @User: Standard
 	GSCALAR(mode6,           "MODE6",         MODE_6),
 
-	GSCALAR(command_total,          "CMD_TOTAL",        0),
-	GSCALAR(command_index,          "CMD_INDEX",        0),
-
     // @Param: WP_RADIUS
     // @DisplayName: Waypoint radius
     // @Description: The distance in meters from a waypoint when we consider the waypoint has been reached. This determines when the rover will turn along the next waypoint path.
@@ -507,6 +504,10 @@ const AP_Param::Info var_info[] PROGMEM = {
     GOBJECTN(ahrs.get_NavEKF(), NavEKF, "EKF_", NavEKF),
 #endif
 
+    // @Group: MIS_
+    // @Path: ../libraries/AP_Mission/AP_Mission.cpp
+    GOBJECT(mission, "MIS_",       AP_Mission),
+
 	AP_VAREND
 };