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GCS_MAVLink: deny attempt to do partial upload while mission transfer in progress

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fixes an internal error where we make sure resources are not allocated before allocating upload resources.

The user may receive a DENIED message if they move a waypoint before an item has been transfered to the vehicle.
This commit is contained in:
Peter Barker 2024-05-08 22:14:23 +10:00 committed by Peter Barker
parent 39bb63c61f
commit 9f0e191505
1 changed files with 13 additions and 0 deletions
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13
libraries/GCS_MAVLink/MissionItemProtocol.cpp
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@ -220,6 +220,19 @@ void MissionItemProtocol::handle_mission_write_partial_list(GCS_MAVLINK &_link,
const mavlink_message_t &msg,
const mavlink_mission_write_partial_list_t &packet)
{
if (!mavlink2_requirement_met(_link, msg)) {
return;
}
if (receiving) {
// someone is already uploading a mission. Deny ability to
// write a partial list here as they might be trying to
// overwrite a subset of the waypoints which the current
// transfer is uploading, and that may lead to storing a whole
// bunch of empty items.
send_mission_ack(_link, msg, MAV_MISSION_DENIED);
return;
}
// start waypoint receiving
if ((unsigned)packet.start_index > item_count() ||