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| author | Ban Siesta <bansiesta@gmail.com> | 2014-12-19 23:38:55 +0000 |
|---|---|---|
| committer | Ban Siesta <bansiesta@gmail.com> | 2014-12-19 23:38:55 +0000 |
| commit | 180e17de335f337b17c0c411d0eb430cec760619 (patch) | |
| tree | d6f38067e10c525059acf66e1ed1b19af17b91d8 /src/modules/mavlink | |
| parent | 7cb4786e7934af50b5ceb370c593e27111d9dd17 (diff) | |
| download | px4-firmware-180e17de335f337b17c0c411d0eb430cec760619.tar.gz px4-firmware-180e17de335f337b17c0c411d0eb430cec760619.tar.bz2 px4-firmware-180e17de335f337b17c0c411d0eb430cec760619.zip | |
navigator: report using mission result if a DO_JUMP waypoint has been changed
Diffstat (limited to 'src/modules/mavlink')
| -rw-r--r-- | src/modules/mavlink/mavlink_mission.cpp | 8 |
1 files changed, 7 insertions, 1 deletions
diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp index 34c088778..859d380fe 100644 --- a/src/modules/mavlink/mavlink_mission.cpp +++ b/src/modules/mavlink/mavlink_mission.cpp @@ -309,6 +309,12 @@ MavlinkMissionManager::send(const hrt_abstime now) send_mission_current(_current_seq); + if (mission_result.item_do_jump_changed) { + /* send a mission item again if the remaining DO_JUMPs has changed */ + send_mission_item(_transfer_partner_sysid, _transfer_partner_compid, + (uint16_t)mission_result.item_changed_index); + } + } else { if (_slow_rate_limiter.check(now)) { send_mission_current(_current_seq); @@ -808,7 +814,7 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s * case NAV_CMD_DO_JUMP: mavlink_mission_item->param1 = mission_item->do_jump_mission_index; - mavlink_mission_item->param2 = mission_item->do_jump_repeat_count; + mavlink_mission_item->param2 = mission_item->do_jump_repeat_count - mission_item->do_jump_current_count; break; default: |