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Mission: bug fix when jump target is zero

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This would result in copter flying to a waypoint high above home
This commit is contained in:
Randy Mackay 2015-04-21 20:37:09 +09:00
parent a0969905ce
commit 87e6452ee9
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_Mission/AP_Mission.cpp
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@ -1139,7 +1139,7 @@ bool AP_Mission::get_next_cmd(uint16_t start_index, Mission_Command& cmd, bool i
}
// check for invalid target
if (temp_cmd.content.jump.target >= (unsigned)_cmd_total) {
if ((temp_cmd.content.jump.target >= (unsigned)_cmd_total) || (temp_cmd.content.jump.target == 0)) {
// To-Do: log an error?
return false;
}
@ -1230,7 +1230,7 @@ void AP_Mission::init_jump_tracking()
int16_t AP_Mission::get_jump_times_run(const Mission_Command& cmd)
{
// exit immediatley if cmd is not a do-jump command or target is invalid
if (cmd.id != MAV_CMD_DO_JUMP || cmd.content.jump.target >= (unsigned)_cmd_total) {
if ((cmd.id != MAV_CMD_DO_JUMP) || (cmd.content.jump.target >= (unsigned)_cmd_total) || (cmd.content.jump.target == 0)) {
// To-Do: log an error?
return AP_MISSION_JUMP_TIMES_MAX;
}