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Plane: restore WP num on watchdog reset

This commit is contained in:
Andrew Tridgell 2019-05-09 19:23:56 +10:00
parent 9173989e63
commit a7c6e9c007
1 changed files with 8 additions and 0 deletions
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8
ArduPlane/mode_auto.cpp
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@ -15,6 +15,14 @@ bool ModeAuto::_enter()
// start or resume the mission, based on MIS_AUTORESET
plane.mission.start_or_resume();
if (hal.util->was_watchdog_armed()) {
if (hal.util->persistent_data.waypoint_num != 0) {
gcs().send_text(MAV_SEVERITY_INFO, "Watchdog: resume WP %u", hal.util->persistent_data.waypoint_num);
plane.mission.set_current_cmd(hal.util->persistent_data.waypoint_num);
hal.util->persistent_data.waypoint_num = 0;
}
}
#if SOARING_ENABLED == ENABLED
plane.g2.soaring_controller.init_cruising();
#endif