From 992446261808d8531a776feb18902cd6ac9808e5 Mon Sep 17 00:00:00 2001
From: James O'Shannessy <12959316+joshanne@users.noreply.github.com>
Date: Mon, 8 Jul 2024 08:01:53 +1000
Subject: [PATCH] AP_Mission: Allow Param4 to be uploaded with NaN

By default, QGroundControl will attempt to upload Loiter Unlimited with a NaN in param4.
Given this field could be NaN, we allow it through the parser.

See: https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LOITER_UNLIM
---
 libraries/AP_Mission/AP_Mission.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/libraries/AP_Mission/AP_Mission.cpp b/libraries/AP_Mission/AP_Mission.cpp
index 8a60c3b68b..ff42107ff6 100644
--- a/libraries/AP_Mission/AP_Mission.cpp
+++ b/libraries/AP_Mission/AP_Mission.cpp
@@ -964,6 +964,9 @@ MAV_MISSION_RESULT AP_Mission::sanity_check_params(const mavlink_mission_item_in
     case MAV_CMD_NAV_WAYPOINT:
         nan_mask = ~(1 << 3); // param 4 can be nan
         break;
+    case MAV_CMD_NAV_LOITER_UNLIM:
+        nan_mask = ~(1 << 3); // param 4 can be nan
+        break;
     case MAV_CMD_NAV_LAND:
         nan_mask = ~(1 << 3); // param 4 can be nan
         break;