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author | Julian Oes <julian@oes.ch> | 2014-06-10 17:33:12 +0200 |
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committer | Julian Oes <julian@oes.ch> | 2014-06-10 17:33:12 +0200 |
commit | 6f24afd68a840698a9a77b46bc8f1ca81cc1f5b9 (patch) | |
tree | 0c7eb941b7dfa632fb4a58f8a3bdead3865e67c5 | |
parent | fd1f1c81efb384e46a5767555a58061082612c9f (diff) | |
download | px4-firmware-6f24afd68a840698a9a77b46bc8f1ca81cc1f5b9.tar.gz px4-firmware-6f24afd68a840698a9a77b46bc8f1ca81cc1f5b9.tar.bz2 px4-firmware-6f24afd68a840698a9a77b46bc8f1ca81cc1f5b9.zip |
navigator: always listen to new current mission index and to new missions
-rw-r--r-- | src/modules/navigator/mission.cpp | 14 |
1 files changed, 14 insertions, 0 deletions
diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index db606e6fa..33a1399b1 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -84,6 +84,19 @@ void Mission::reset() { _first_run = true; + + /* check anyway if missions have changed so that feedback to groundstation is given */ + bool onboard_updated; + orb_check(_navigator->get_onboard_mission_sub(), &onboard_updated); + if (onboard_updated) { + update_onboard_mission(); + } + + bool offboard_updated; + orb_check(_navigator->get_offboard_mission_sub(), &offboard_updated); + if (offboard_updated) { + update_offboard_mission(); + } } bool @@ -185,6 +198,7 @@ Mission::update_offboard_mission() _offboard_mission.current_index = 0; _current_offboard_mission_index = 0; } + report_current_offboard_mission_item(); } |