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AP_Mission: emit jump count even if no limit 

previously if there was a jump limit we informed the user we were jumping and provided the current count and the limit.

This changes things so that if there's no limit we emit the same message, with the count and "unlimited" in place of the limit number
This commit is contained in:
Peter Barker 2024-05-07 13:58:07 +10:00 committed by Randy Mackay
parent e7be1e55de
commit c39ed20c24
1 changed files with 14 additions and 16 deletions
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30
libraries/AP_Mission/AP_Mission.cpp
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@ -2138,24 +2138,18 @@ bool AP_Mission::get_next_cmd(uint16_t start_index, Mission_Command& cmd, bool i
jump_index = cmd_index;
}
// check if jump command is 'repeat forever'
if (temp_cmd.content.jump.num_times == AP_MISSION_JUMP_REPEAT_FOREVER) {
// get number of times jump command has already been run
if (temp_cmd.content.jump.num_times == AP_MISSION_JUMP_REPEAT_FOREVER ||
get_jump_times_run(temp_cmd) < temp_cmd.content.jump.num_times) {
// update the record of the number of times run
if (increment_jump_num_times_if_found && !_flags.resuming_mission) {
increment_jump_times_run(temp_cmd, send_gcs_msg);
}
// continue searching from jump target
cmd_index = temp_cmd.content.jump.target;
} else {
// get number of times jump command has already been run
int16_t jump_times_run = get_jump_times_run(temp_cmd);
if (jump_times_run < temp_cmd.content.jump.num_times) {
// update the record of the number of times run
if (increment_jump_num_times_if_found && !_flags.resuming_mission) {
increment_jump_times_run(temp_cmd, send_gcs_msg);
}
// continue searching from jump target
cmd_index = temp_cmd.content.jump.target;
} else {
// jump has been run specified number of times so move search to next command in mission
cmd_index++;
}
// jump has been run specified number of times so move search to next command in mission
cmd_index++;
}
} else {
// this is a non-jump command so return it
@ -2291,7 +2285,11 @@ void AP_Mission::increment_jump_times_run(Mission_Command& cmd, bool send_gcs_ms
if (_jump_tracking[i].index == cmd.index) {
_jump_tracking[i].num_times_run++;
if (send_gcs_msg) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Mission: %u Jump %i/%i", _jump_tracking[i].index, _jump_tracking[i].num_times_run, cmd.content.jump.num_times);
if (cmd.content.jump.num_times == AP_MISSION_JUMP_REPEAT_FOREVER) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Mission: %u Jump %i/unlimited", _jump_tracking[i].index, _jump_tracking[i].num_times_run);
} else {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Mission: %u Jump %i/%i", _jump_tracking[i].index, _jump_tracking[i].num_times_run, cmd.content.jump.num_times);
}
}
return;
} else if (_jump_tracking[i].index == AP_MISSION_CMD_INDEX_NONE) {