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mission: on activation in fw mode make sure mission index > transition point index

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst 2022-03-07 07:44:22 +03:00
parent f8740863f4
commit fc08c538da
1 changed files with 11 additions and 2 deletions
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13
src/modules/navigator/mission.cpp
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@ -208,6 +208,15 @@ Mission::on_activation()
cmd.param1 = -1.0f;
cmd.param3 = 0.0f;
_navigator->publish_vehicle_cmd(&cmd);
if (_navigator->get_vstatus()->is_vtol
&& _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
// if we are already in fixed wing flight then make sure that the current active waypoint
// is after the transition to forward flight waypoint
if (_first_fixed_wing_waypoint_index > 0 && _current_mission_index < _first_fixed_wing_waypoint_index) {
set_current_mission_index(_first_fixed_wing_waypoint_index);
}
}
}
void
@ -585,8 +594,8 @@ Mission::update_mission()
// if we are already in fixed wing flight then make sure that the current active waypoint
// is after the transition to forward flight waypoint
if (_current_mission_index < _first_fixed_wing_waypoint_index) {
_current_mission_index = _first_fixed_wing_waypoint_index;
if (_first_fixed_wing_waypoint_index > 0 && _current_mission_index < _first_fixed_wing_waypoint_index) {
set_current_mission_index(_first_fixed_wing_waypoint_index);
}
}