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guard against invalid yawmode values

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Thomas Gubler
2015-12-28 16:49:09 +01:00
parent ea1439c627
commit 2af066bc6a
2 changed files with 4 additions and 2 deletions
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src/modules/navigator/mission.cpp
+2 -1
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@@ -189,8 +189,9 @@ Mission::on_active()
} }
/* see if we need to update the current yaw heading for rotary wing types */ /* see if we need to update the current yaw heading for rotary wing types */
if (_navigator->get_vstatus()->is_rotary_wing if (_navigator->get_vstatus()->is_rotary_wing
&& _param_yawmode.get() != MISSION_YAWMODE_NONE && _param_yawmode.get() != MISSION_YAWMODE_NONE
&& _param_yawmode.get() < MISSION_YAWMODE_MAX
&& _mission_type != MISSION_TYPE_NONE) { && _mission_type != MISSION_TYPE_NONE) {
heading_sp_update(); heading_sp_update();
} }
src/modules/navigator/mission.h
+2 -1
View File
@@ -88,7 +88,8 @@ public:
MISSION_YAWMODE_NONE = 0, MISSION_YAWMODE_NONE = 0,
MISSION_YAWMODE_FRONT_TO_WAYPOINT = 1, MISSION_YAWMODE_FRONT_TO_WAYPOINT = 1,
MISSION_YAWMODE_FRONT_TO_HOME = 2, MISSION_YAWMODE_FRONT_TO_HOME = 2,
MISSION_YAWMODE_BACK_TO_HOME = 3 MISSION_YAWMODE_BACK_TO_HOME = 3,
MISSION_YAWMODE_MAX = 4
}; };
private: private: