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fix mission sysid for mission_ack

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DanielH
2024-10-08 15:34:51 +02:00
committed by Silvan Fuhrer
parent 0d31226b1c
commit ee19691d95
1 changed files with 5 additions and 5 deletions
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src/modules/mavlink/mavlink_mission.cpp
+5 -5
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@@ -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 {