diff options
Diffstat (limited to 'src/modules/mavlink/waypoints.c')
| -rw-r--r-- | src/modules/mavlink/waypoints.c | 37 |
1 files changed, 25 insertions, 12 deletions
diff --git a/src/modules/mavlink/waypoints.c b/src/modules/mavlink/waypoints.c index ddad5f0df..7e4a2688f 100644 --- a/src/modules/mavlink/waypoints.c +++ b/src/modules/mavlink/waypoints.c @@ -398,7 +398,14 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_ if (time_elapsed) { + /* safeguard against invalid missions with last wp autocontinue on */ + if (wpm->current_active_wp_id == wpm->size - 1) { + /* stop handling missions here */ + cur_wp->autocontinue = false; + } + if (cur_wp->autocontinue) { + cur_wp->current = 0; float navigation_lat = -1.0f; @@ -419,13 +426,16 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_ navigation_frame = MAV_FRAME_LOCAL_NED; } + /* guard against missions without final land waypoint */ /* only accept supported navigation waypoints, skip unknown ones */ do { + /* pick up the last valid navigation waypoint, this will be one we hold on to after the mission */ if (wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_WAYPOINT || wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TURNS || wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TIME || - wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_UNLIM) { + wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_UNLIM || + wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_TAKEOFF) { /* this is a navigation waypoint */ navigation_frame = cur_wp->frame; @@ -434,17 +444,20 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_ navigation_alt = cur_wp->z; } - if (wpm->current_active_wp_id == wpm->size - 1 && wpm->size > 1) { - /* the last waypoint was reached, if auto continue is - * activated keep the system loitering there. - */ - cur_wp->command = MAV_CMD_NAV_LOITER_UNLIM; - cur_wp->param3 = 20.0f; // XXX magic number 20 m loiter radius - cur_wp->frame = navigation_frame; - cur_wp->x = navigation_lat; - cur_wp->y = navigation_lon; - cur_wp->z = navigation_alt; - cur_wp->autocontinue = false; + if (wpm->current_active_wp_id == wpm->size - 1) { + + /* if we're not landing at the last nav waypoint, we're falling back to loiter */ + if (wpm->waypoints[wpm->current_active_wp_id].command != (int)MAV_CMD_NAV_LAND) { + /* the last waypoint was reached, if auto continue is + * activated AND it is NOT a land waypoint, keep the system loitering there. + */ + cur_wp->command = MAV_CMD_NAV_LOITER_UNLIM; + cur_wp->param3 = 20.0f; // XXX magic number 20 m loiter radius + cur_wp->frame = navigation_frame; + cur_wp->x = navigation_lat; + cur_wp->y = navigation_lon; + cur_wp->z = navigation_alt; + } /* we risk an endless loop for missions without navigation waypoints, abort. */ break; |