fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-16 20:43:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

do not update mission if it has unsupported mission items

Browse Source
This commit is contained in:
Roman Bapst
2015-05-21 20:08:49 +02:00
committed by Lorenz Meier
parent 9179fcefc9
commit afa8266255
3 changed files with 47 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/mission.cpp
+6 -1
View File
@@ -207,6 +207,8 @@ Mission::update_onboard_mission()
void
Mission::update_offboard_mission()
{
bool failed = true;
if (orb_copy(ORB_ID(offboard_mission), _navigator->get_offboard_mission_sub(), &_offboard_mission) == OK) {
warnx("offboard mission updated: dataman_id=%d, count=%d, current_seq=%d", _offboard_mission.dataman_id, _offboard_mission.count, _offboard_mission.current_seq);
/* determine current index */
@@ -228,12 +230,15 @@ Mission::update_offboard_mission()
* however warnings are issued to the gcs via mavlink from inside the MissionFeasiblityChecker */
dm_item_t dm_current = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id);
_missionFeasiblityChecker.checkMissionFeasible(_navigator->get_vstatus()->is_rotary_wing,
failed = !_missionFeasiblityChecker.checkMissionFeasible(_navigator->get_vstatus()->is_rotary_wing,
dm_current, (size_t) _offboard_mission.count, _navigator->get_geofence(),
_navigator->get_home_position()->alt);
} else {
warnx("offboard mission update failed");
}
if (failed) {
_offboard_mission.count = 0;
_offboard_mission.current_seq = 0;
_current_offboard_mission_index = 0;