navigator: report using mission result if a DO_JUMP waypoint has been changed

4 files changed, 28 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:
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;
diff --git a/src/modules/navigator/mission.h b/src/modules/navigator/mission.h
index ea7cc0927..a8a644b0f 100644
--- a/src/modules/navigator/mission.h
+++ b/src/modules/navigator/mission.h
@@ -38,6 +38,7 @@
  * @author Julian Oes <julian@oes.ch>
  * @author Thomas Gubler <thomasgubler@gmail.com>
  * @author Anton Babushkin <anton.babushkin@me.com>
+ * @author Ban Siesta <bansiesta@gmail.com>
  */
 
 #ifndef NAVIGATOR_MISSION_H
@@ -131,6 +132,11 @@ private:
 	void save_offboard_mission_state();
 
 	/**
+	 * Inform about a changed mission item after a DO_JUMP
+	 */
+	void report_do_jump_mission_changed(int index, int do_jumps_remaining);
+
+	/**
 	 * Set a mission item as reached
 	 */
 	void set_mission_item_reached();
diff --git a/src/modules/uORB/topics/mission_result.h b/src/modules/uORB/topics/mission_result.h
index 17ddaa01d..2ddc529a3 100644
--- a/src/modules/uORB/topics/mission_result.h
+++ b/src/modules/uORB/topics/mission_result.h
@@ -61,6 +61,9 @@ struct mission_result_s
 	bool finished;			/**< true if mission has been completed					 */
 	bool stay_in_failsafe;		/**< true if the commander should not switch out of the failsafe mode*/
 	bool flight_termination;	/**< true if the navigator demands a flight termination from the commander app */
+	bool item_do_jump_changed;	/**< true if the number of do jumps remaining has changed */
+	unsigned item_changed_index;	/**< indicate which item has changed */
+	unsigned item_do_jump_remaining;/**< set to the number of do jumps remaining for that item */
 };
 
 /**