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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
2020-06-21 11:26:02 -04:00
parent d677b9460b
commit 80c1f4e5e6
2 changed files with 4 additions and 4 deletions
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src/modules/mavlink/mavlink_mission.cpp
+3 -3
View File
@@ -261,9 +261,9 @@ MavlinkMissionManager::send_mission_ack(uint8_t sysid, uint8_t compid, uint8_t t
} }
void 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) { if (seq < item_count) {
mavlink_mission_current_t wpc; 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); 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 */ /* don't broadcast if no WPs */
} else { } else {
src/modules/mavlink/mavlink_mission.h
+1 -1
View File
@@ -187,7 +187,7 @@ private:
* *
* @param seq The waypoint sequence number the MAV should fly to. * @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); void send_mission_count(uint8_t sysid, uint8_t compid, uint16_t count, MAV_MISSION_TYPE mission_type);