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mavlink_mission: restore old sequence number when a new mission is infeasible

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This commit is contained in:
Igor Mišić
2021-08-19 14:06:52 +02:00
parent bb6bf89913
commit 2877e74021
1 changed files with 6 additions and 0 deletions
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src/modules/mavlink/mavlink_mission.cpp
+6
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@@ -487,6 +487,12 @@ MavlinkMissionManager::send()
if (_mission_result_sub.update(&mission_result)) {
/* If an infeasible mission is uploaded and the old feasible mission exists item count could be wrong.
* This is restoring item count from the feasible mission. */
if (_count[MAV_MISSION_TYPE_MISSION] != mission_result.seq_total) {
_count[MAV_MISSION_TYPE_MISSION] = mission_result.seq_total;
}
if (_current_seq != mission_result.seq_current) {
_current_seq = mission_result.seq_current;