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mavlink: send MISSION_CURRENT respect signed sequence number

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- current_seq -1 indicates nothing currently active
This commit is contained in:
Daniel Agar 2020-06-20 10:54:58 -04:00
parent d677b9460b
commit 80c1f4e5e6
2 changed files with 4 additions and 4 deletions
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6
src/modules/mavlink/mavlink_mission.cpp
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@ -261,9 +261,9 @@ MavlinkMissionManager::send_mission_ack(uint8_t sysid, uint8_t compid, uint8_t t
}
void
MavlinkMissionManager::send_mission_current(uint16_t seq)
MavlinkMissionManager::send_mission_current(int32_t seq)
{
unsigned item_count = _count[MAV_MISSION_TYPE_MISSION];
int32_t item_count = _count[MAV_MISSION_TYPE_MISSION];
if (seq < item_count) {
mavlink_mission_current_t wpc;
@ -272,7 +272,7 @@ MavlinkMissionManager::send_mission_current(uint16_t seq)
mavlink_msg_mission_current_send_struct(_mavlink->get_channel(), &wpc);
} else if (seq == 0 && item_count == 0) {
} else if (seq <= 0 && item_count == 0) {
/* don't broadcast if no WPs */
} else {

2
src/modules/mavlink/mavlink_mission.h
View File

@ -187,7 +187,7 @@ private:
*
* @param seq The waypoint sequence number the MAV should fly to.
*/
void send_mission_current(uint16_t seq);
void send_mission_current(int32_t seq);
void send_mission_count(uint8_t sysid, uint8_t compid, uint16_t count, MAV_MISSION_TYPE mission_type);