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Copter: fixed loading of waypoints 

copter code assumes that command_total includes the home waypoint
This commit is contained in:
Andrew Tridgell 2013-05-29 21:44:08 +10:00
parent d944da39b2
commit 30df8796ce
1 changed files with 5 additions and 1 deletions
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6
ArduCopter/GCS_Mavlink.pde
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@ -1573,7 +1573,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
waypoint_receiving = true;
waypoint_sending = false;
waypoint_request_i = 0;
waypoint_request_last= g.command_total;
// note that ArduCopter sets waypoint_request_last to
// command_total-1, whereas plane and rover use
// command_total. This is because the copter code assumes
// command_total includes home
waypoint_request_last= g.command_total - 1;
waypoint_timelast_request = 0;
break;
}