From c39ed20c246553c60d2d7b369f8770b4e3b8647e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 7 May 2024 13:58:07 +1000
Subject: [PATCH] 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
---
 libraries/AP_Mission/AP_Mission.cpp | 30 ++++++++++++++---------------
 1 file changed, 14 insertions(+), 16 deletions(-)

diff --git a/libraries/AP_Mission/AP_Mission.cpp b/libraries/AP_Mission/AP_Mission.cpp
index f0f5038e6a..84ffcc4169 100644
--- a/libraries/AP_Mission/AP_Mission.cpp
+++ b/libraries/AP_Mission/AP_Mission.cpp
@@ -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) {