From ee19691d950dd2a88c1fa07339ae3654886a7f7e Mon Sep 17 00:00:00 2001 From: DanielH Date: Tue, 17 Sep 2024 19:28:40 +0200 Subject: [PATCH] fix mission sysid for mission_ack --- src/modules/mavlink/mavlink_mission.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp index 1c5437270a..2c4223e85c 100644 --- a/src/modules/mavlink/mavlink_mission.cpp +++ b/src/modules/mavlink/mavlink_mission.cpp @@ -901,11 +901,13 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg) _time_last_recv = hrt_absolute_time(); if (_transfer_in_progress) { - send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR); + send_mission_ack(msg->sysid, msg->compid, MAV_MISSION_ERROR); return; } _transfer_in_progress = true; + _transfer_partner_sysid = msg->sysid; + _transfer_partner_compid = msg->compid; _mission_type = (MAV_MISSION_TYPE)wpc.mission_type; _transfer_current_crc32 = 0; @@ -983,8 +985,6 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg) _state = MAVLINK_WPM_STATE_GETLIST; _transfer_seq = 0; - _transfer_partner_sysid = msg->sysid; - _transfer_partner_compid = msg->compid; _transfer_count = wpc.count; _transfer_current_seq = -1; _transfer_land_start_marker = -1; @@ -1354,10 +1354,10 @@ MavlinkMissionManager::handle_mission_clear_all(const mavlink_message_t *msg) if (ret == PX4_OK) { PX4_DEBUG("WPM: CLEAR_ALL OK (mission_type=%i)", _mission_type); - send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ACCEPTED); + send_mission_ack(msg->sysid, msg->compid, MAV_MISSION_ACCEPTED); } else { - send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR); + send_mission_ack(msg->sysid, msg->compid, MAV_MISSION_ERROR); } } else {