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AP_Mission: correct spelling of interrupted

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Randy Mackay 2021-03-06 10:04:25 +09:00 committed by Peter Barker
parent e09e9b1e6a
commit 3a66b2667b
2 changed files with 4 additions and 4 deletions
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6
libraries/AP_Mission/AP_Mission.cpp
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@ -1657,7 +1657,7 @@ bool AP_Mission::advance_current_nav_cmd(uint16_t starting_index)
_flags.nav_cmd_loaded = true;
}
// save a loaded wp index in history array for when _repeat_dist is set via MAV_CMD_DO_SET_RESUME_REPEAT_DIST
// and prevent history being re-written until vehicle returns to interupted position
// and prevent history being re-written until vehicle returns to interrupted position
if (_repeat_dist > 0 && !_flags.resuming_mission && _nav_cmd.index != AP_MISSION_CMD_INDEX_NONE && !(_nav_cmd.content.location.lat == 0 && _nav_cmd.content.location.lng == 0)) {
// update mission history. last index position is always the most recent wp loaded.
for (uint8_t i=0; i<AP_MISSION_MAX_WP_HISTORY-1; i++) {
@ -1665,10 +1665,10 @@ bool AP_Mission::advance_current_nav_cmd(uint16_t starting_index)
}
_wp_index_history[AP_MISSION_MAX_WP_HISTORY-1] = _nav_cmd.index;
}
// check if the vehicle is resuming and has returned to where it was interupted
// check if the vehicle is resuming and has returned to where it was interrupted
if (_flags.resuming_mission && _nav_cmd.index == _wp_index_history[AP_MISSION_MAX_WP_HISTORY-1]) {
// vehicle has resumed previous position
gcs().send_text(MAV_SEVERITY_INFO, "Mission: Returned to interupted WP");
gcs().send_text(MAV_SEVERITY_INFO, "Mission: Returned to interrupted WP");
_flags.resuming_mission = false;
}

2
libraries/AP_Mission/AP_Mission.h
View File

@ -582,7 +582,7 @@ private:
uint8_t do_cmd_loaded : 1; // true if a "do"/"conditional" command has been loaded into _do_cmd
uint8_t do_cmd_all_done : 1; // true if all "do"/"conditional" commands have been completed (stops unnecessary searching through eeprom for do commands)
bool in_landing_sequence : 1; // true if the mission has jumped to a landing
bool resuming_mission : 1; // true if the mission is resuming and set false once the aircraft attains the interupted WP
bool resuming_mission : 1; // true if the mission is resuming and set false once the aircraft attains the interrupted WP
} _flags;
// mission WP resume history