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mavlink_mission: send request again if unsupported

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When we receive a MAV_MISSION_UNSUPPORTED, we should try to send a
mission request again with or without int mode.
This commit is contained in:
Julian Oes
2018-01-25 15:31:40 +01:00
committed by Lorenz Meier
parent ffc7f37f12
commit e43cc9a9c1
1 changed files with 12 additions and 4 deletions
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src/modules/mavlink/mavlink_mission.cpp
+12 -4
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@@ -606,12 +606,20 @@ MavlinkMissionManager::handle_mission_ack(const mavlink_message_t *msg)
} else if (_state == MAVLINK_WPM_STATE_GETLIST) {
// INT mode is not supported
if (_int_mode && wpa.type != MAV_MISSION_ACCEPTED) {
_int_mode = false;
// INT or float mode is not supported
if (wpa.type == MAV_MISSION_UNSUPPORTED) {
if (_int_mode) {
_int_mode = false;
send_mission_request(_transfer_partner_sysid, _transfer_partner_compid, _transfer_seq);
} else {
_int_mode = true;
send_mission_request(_transfer_partner_sysid, _transfer_partner_compid, _transfer_seq);
}
} else if (wpa.type != MAV_MISSION_ACCEPTED) {
_int_mode = true;
PX4_WARN("Mission ack result was %d", wpa.type);
}
}