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AP_Mission: Better AUTO watchdog restore

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This allows to run any commands following the last nav_waypoint
that may be required or change flight behavior for following wps
This commit is contained in:
Jaaaky 2019-08-25 11:54:16 +03:00 committed by Tom Pittenger
parent f8cfbb8062
commit d774bf3ea5
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_Mission/AP_Mission.cpp
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@ -225,7 +225,7 @@ void AP_Mission::update()
}
// save persistent waypoint_num for watchdog restore
hal.util->persistent_data.waypoint_num = _nav_cmd.index;
hal.util->persistent_data.waypoint_num = _prev_nav_cmd_wp_index != AP_MISSION_CMD_INDEX_NONE ? MIN(_nav_cmd.index,_prev_nav_cmd_wp_index+1) : _nav_cmd.index;
// check if we have an active nav command
if (!_flags.nav_cmd_loaded || _nav_cmd.index == AP_MISSION_CMD_INDEX_NONE) {