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

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This commit is contained in:
Ban Siesta
2014-12-19 23:38:55 +00:00
parent 7cb4786e79
commit 180e17de33
4 changed files with 28 additions and 1 deletions
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src/modules/mavlink/mavlink_mission.cpp
+7 -1
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@@ -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: