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Mission: init home to zero before writing to eeprom

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This commit is contained in:
Randy Mackay 2014-03-11 11:23:44 +09:00
parent 5ccfa247ac
commit 4c0a31a9dc
1 changed files with 6 additions and 4 deletions
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10
libraries/AP_Mission/AP_Mission.cpp
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@ -316,8 +316,6 @@ bool AP_Mission::read_cmd_from_storage(uint16_t index, Mission_Command& cmd) con
// exit immediately if index is beyond last command but we always let cmd #0 (i.e. home) be read // exit immediately if index is beyond last command but we always let cmd #0 (i.e. home) be read
if (index > _cmd_total && index != 0) { if (index > _cmd_total && index != 0) {
// return a command with a blank id
cmd.id = AP_MISSION_CMD_ID_NONE;
return false; return false;
} }
@ -325,6 +323,7 @@ bool AP_Mission::read_cmd_from_storage(uint16_t index, Mission_Command& cmd) con
if (index == 0) { if (index == 0) {
cmd.index = 0; cmd.index = 0;
cmd.id = MAV_CMD_NAV_WAYPOINT; cmd.id = MAV_CMD_NAV_WAYPOINT;
cmd.p1 = 0;
cmd.content.location = _ahrs.get_home(); cmd.content.location = _ahrs.get_home();
}else{ }else{
// Find out proper location in memory by using the start_byte position + the index // Find out proper location in memory by using the start_byte position + the index
@ -395,7 +394,7 @@ bool AP_Mission::write_cmd_to_storage(uint16_t index, Mission_Command& cmd)
/// home is taken directly from ahrs /// home is taken directly from ahrs
void AP_Mission::write_home_to_storage() void AP_Mission::write_home_to_storage()
{ {
Mission_Command home_cmd; Mission_Command home_cmd = {};
home_cmd.id = MAV_CMD_NAV_WAYPOINT; home_cmd.id = MAV_CMD_NAV_WAYPOINT;
home_cmd.content.location = _ahrs.get_home(); home_cmd.content.location = _ahrs.get_home();
write_cmd_to_storage(0,home_cmd); write_cmd_to_storage(0,home_cmd);
@ -886,7 +885,10 @@ bool AP_Mission::get_next_cmd(uint16_t start_index, Mission_Command& cmd, bool i
// search until the end of the mission command list // search until the end of the mission command list
while(cmd_index < _cmd_total) { while(cmd_index < _cmd_total) {
// load the next command // load the next command
read_cmd_from_storage(cmd_index, temp_cmd); if (!read_cmd_from_storage(cmd_index, temp_cmd)) {
// this should never happen because of check above but just in case
return false;
}
// check for do-jump command // check for do-jump command
if (temp_cmd.id == MAV_CMD_DO_JUMP) { if (temp_cmd.id == MAV_CMD_DO_JUMP) {