added crtpCommanderHighLevelIsTrajectoryDefined() (#648)

bitcraze · Nov 17, 2020 · 7ace123 · 7ace123
1 parent 1a4cc9a
commit 7ace123
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diff --git a/src/modules/interface/crtp_commander_high_level.h b/src/modules/interface/crtp_commander_high_level.h
@@ -127,6 +127,13 @@ void crtpCommanderHighLevelStop();
  */
 void crtpCommanderHighLevelGoTo(const float x, const float y, const float z, const float yaw, const float duration_s, const bool relative);
 
+/**
+ * @brief Returns whether the trajectory with the given ID is defined
+ *
+ * @param trajectoryId The id of the trajectory
+ */
+bool crtpCommanderHighLevelIsTrajectoryDefined(uint8_t trajectoryId);
+
 /**
  * @brief starts executing a specified trajectory
  *

diff --git a/src/modules/src/crtp_commander_high_level.c b/src/modules/src/crtp_commander_high_level.c
@@ -718,6 +718,14 @@ void crtpCommanderHighLevelGoTo(const float x, const float y, const float z, con
   handleCommand(COMMAND_GO_TO, (const uint8_t*)&data);
 }
 
+bool crtpCommanderHighLevelIsTrajectoryDefined(uint8_t trajectoryId)
+{
+  return (
+    trajectoryId < NUM_TRAJECTORY_DEFINITIONS &&
+    trajectory_descriptions[trajectoryId].trajectoryLocation != TRAJECTORY_LOCATION_INVALID
+  );
+}
+
 void crtpCommanderHighLevelStartTrajectory(const uint8_t trajectoryId, const float timeScale, const bool relative, const bool reversed)
 {
   struct data_start_trajectory data =