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Navigator: Do not interpret DO_SET_SPEED as 3D location, reset speed on negative value.

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Lorenz Meier
2016-03-13 18:09:52 +01:00
parent c97dca0cdb
commit 2a2dca84bf
5 changed files with 10 additions and 6 deletions
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src/modules/navigator/mission_feasibility_checker.cpp
+2 -2
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@@ -242,12 +242,12 @@ bool MissionFeasibilityChecker::checkMissionItemValidity(dm_item_t dm_current, s
missionitem.nav_cmd != NAV_CMD_PATHPLANNING &&
missionitem.nav_cmd != NAV_CMD_DO_JUMP &&
missionitem.nav_cmd != NAV_CMD_DO_SET_SERVO &&
missionitem.nav_cmd != vehicle_command_s::VEHICLE_CMD_DO_CHANGE_SPEED &&
missionitem.nav_cmd != NAV_CMD_DO_CHANGE_SPEED &&
missionitem.nav_cmd != NAV_CMD_DO_DIGICAM_CONTROL &&
missionitem.nav_cmd != NAV_CMD_DO_SET_CAM_TRIGG_DIST &&
missionitem.nav_cmd != NAV_CMD_DO_VTOL_TRANSITION) {
mavlink_log_critical(_mavlink_fd, "Rejecting mission item %i: unsupported action.", (int)(i+1));
mavlink_log_critical(_mavlink_fd, "Rejecting mission item %i: unsupported cmd: %d", (int)(i+1), (int)missionitem.nav_cmd);
return false;
}