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author | Ban Siesta <bansiesta@gmail.com> | 2014-12-19 23:38:55 +0000 |
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committer | Ban Siesta <bansiesta@gmail.com> | 2014-12-19 23:38:55 +0000 |
commit | 180e17de335f337b17c0c411d0eb430cec760619 (patch) | |
tree | d6f38067e10c525059acf66e1ed1b19af17b91d8 /src/modules/navigator/mission.cpp | |
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/navigator/mission.cpp')
-rw-r--r-- | src/modules/navigator/mission.cpp | 12 |
1 files changed, 12 insertions, 0 deletions
diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index 3f0a6bb51..9b0a092da 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -630,6 +630,8 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s "ERROR DO JUMP waypoint could not be written"); return false; } + report_do_jump_mission_changed(*mission_index_ptr, + mission_item_tmp.do_jump_repeat_count); } /* set new mission item index and repeat * we don't have to validate here, if it's invalid, we should realize this later .*/ @@ -701,6 +703,16 @@ Mission::save_offboard_mission_state() } void +Mission::report_do_jump_mission_changed(int index, int do_jumps_remaining) +{ + /* inform about the change */ + _navigator->get_mission_result()->item_do_jump_changed = true; + _navigator->get_mission_result()->item_changed_index = index; + _navigator->get_mission_result()->item_do_jump_remaining = do_jumps_remaining; + _navigator->set_mission_result_updated(); +} + +void Mission::set_mission_item_reached() { _navigator->get_mission_result()->reached = true; |