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Diffstat (limited to 'src/modules/navigator/navigator_main.cpp')
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 7 |
1 files changed, 7 insertions, 0 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index a3c190c7f..888c8e7f4 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -227,6 +227,13 @@ Navigator::task_main() warnx("Could not clear geofence"); } + /* Get the last offboard mission id */ + persistent_system_state_t sys_state; + if (dm_read(DM_KEY_MISSION_STATE, 0, &sys_state, sizeof(sys_state)) == sizeof(sys_state)) { + if ((sys_state.offboard_waypoint_id >= 0) && (sys_state.offboard_waypoint_id <= 1)) + _mission.set_offboard_dataman_id(sys_state.offboard_waypoint_id); + } + /* do subscriptions */ _global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); _capabilities_sub = orb_subscribe(ORB_ID(navigation_capabilities)); |