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AP_Mission: DO_RETURN_PATH_START limit worst case runtime #28608

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Nov 26, 2024
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AP_Mission: DO_RETURN_PATH_START limit worst case runtime #28608

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16 changes: 11 additions & 5 deletions libraries/AP_Mission/AP_Mission.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2446,16 +2446,22 @@ bool AP_Mission::jump_to_closest_mission_leg(const Location &current_loc)
uint16_t landing_start_index = 0;
float min_distance = -1;

// This defines the maximum number of waypoints that will be searched, this limits the worst case runtime
uint16_t search_remaining = 1000;

// Go through mission and check each DO_RETURN_PATH_START
for (uint16_t i = 1; i < num_commands(); i++) {
Mission_Command tmp;
if (read_cmd_from_storage(i, tmp) && (tmp.id == MAV_CMD_DO_RETURN_PATH_START)) {
if (get_command_id(i) == uint16_t(MAV_CMD_DO_RETURN_PATH_START)) {
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This is a efficiency saving, we were only checking the ID, so we don't need the full command.

uint16_t tmp_index;
float tmp_distance;
if (distance_to_mission_leg(i, tmp_distance, tmp_index, current_loc) && (min_distance < 0 || tmp_distance <= min_distance)){
if (distance_to_mission_leg(i, search_remaining, tmp_distance, tmp_index, current_loc) && (min_distance < 0 || tmp_distance <= min_distance)){
min_distance = tmp_distance;
landing_start_index = tmp_index;
}
if (search_remaining == 0) {
// Run out of time to search, stop and return the best so far
break;
}
}
}

Expand Down Expand Up @@ -2626,7 +2632,7 @@ bool AP_Mission::distance_to_landing(uint16_t index, float &tot_distance, Locati

// Approximate the distance travelled to return to the mission path. DO_JUMP commands are observed in look forward.
// Stop searching once reaching a landing or do-land-start
bool AP_Mission::distance_to_mission_leg(uint16_t start_index, float &rejoin_distance, uint16_t &rejoin_index, const Location& current_loc)
bool AP_Mission::distance_to_mission_leg(uint16_t start_index, uint16_t &search_remaining, float &rejoin_distance, uint16_t &rejoin_index, const Location& current_loc)
{
Location prev_loc;
Mission_Command temp_cmd;
Expand All @@ -2642,7 +2648,7 @@ bool AP_Mission::distance_to_mission_leg(uint16_t start_index, float &rejoin_dis

// run through remainder of mission to approximate a distance to landing
uint16_t index = start_index;
for (uint8_t i=0; i<UINT8_MAX; i++) {
for (; search_remaining > 0; search_remaining--) {
// search until the end of the mission command list
for (uint16_t cmd_index = index; cmd_index <= (unsigned)_cmd_total; cmd_index++) {
if (get_next_cmd(cmd_index, temp_cmd, true, false)) {
Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_Mission/AP_Mission.h
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Expand Up @@ -869,7 +869,7 @@ class AP_Mission

// Approximate the distance traveled to return to the mission path. DO_JUMP commands are observed in look forward.
// Stop searching once reaching a landing or do-land-start
bool distance_to_mission_leg(uint16_t index, float &rejoin_distance, uint16_t &rejoin_index, const Location& current_loc);
bool distance_to_mission_leg(uint16_t index, uint16_t &search_remaining, float &rejoin_distance, uint16_t &rejoin_index, const Location& current_loc);

// calculate the location of a resume cmd wp
bool calc_rewind_pos(Mission_Command& rewind_cmd);
Expand Down
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