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AP_Mission: fixed a bug re-entering AUTO 

this fixes a bug found by Marco where we would continue in CRUISE mode
with no waypoint if we re-entered AUTO after a mission reset
This commit is contained in:
Andrew Tridgell 2014-03-30 22:29:22 +11:00
parent 93f8d53d1b
commit 31082f4ce2
1 changed files with 14 additions and 10 deletions
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24
libraries/AP_Mission/AP_Mission.cpp
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@ -81,18 +81,22 @@ void AP_Mission::resume()
start();
return;
}
}
// restart active navigation command
// Note: if there is no active command then the mission must have been stopped just after the previous nav command completed
// update will take care of finding and starting the nav command
if (_flags.nav_cmd_loaded) {
_cmd_start_fn(_nav_cmd);
}
// restart active navigation command. We run these on resume()
// regardless of whether the mission was stopped, as we may be
// re-entering AUTO mode and the nav_cmd callback needs to be run
// to setup the current target waypoint
// restart active do command
if (_flags.do_cmd_loaded && _do_cmd.index != AP_MISSION_CMD_INDEX_NONE) {
_cmd_start_fn(_do_cmd);
}
// Note: if there is no active command then the mission must have been stopped just after the previous nav command completed
// update will take care of finding and starting the nav command
if (_flags.nav_cmd_loaded) {
_cmd_start_fn(_nav_cmd);
}
// restart active do command
if (_flags.do_cmd_loaded && _do_cmd.index != AP_MISSION_CMD_INDEX_NONE) {
_cmd_start_fn(_do_cmd);
}
}