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AP_Mission: fix infinite loop with nav commands that won't start 

Discovered this when trying to run the standard CMAC mission on Sub
This commit is contained in:
Peter Barker 2021-09-21 08:36:48 +10:00 committed by Peter Barker
parent a24a8c110b
commit f07d40a570
1 changed files with 7 additions and 6 deletions
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13
libraries/AP_Mission/AP_Mission.cpp
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@ -1703,7 +1703,7 @@ bool AP_Mission::advance_current_nav_cmd(uint16_t starting_index)
uint8_t max_loops = 255;
// search until we find next nav command or reach end of command list
while (!_flags.nav_cmd_loaded) {
while (!_flags.nav_cmd_loaded && max_loops-- > 0) {
// get next command
Mission_Command cmd;
if (!get_next_cmd(cmd_index, cmd, true)) {
@ -1746,17 +1746,18 @@ bool AP_Mission::advance_current_nav_cmd(uint16_t starting_index)
_do_cmd = cmd;
_flags.do_cmd_loaded = true;
start_command(_do_cmd);
} else {
// protect against endless loops of do-commands
if (max_loops-- == 0) {
return false;
}
}
}
// move onto next command
cmd_index = cmd.index+1;
}
if (max_loops == 0) {
// infinite loop. This can happen if there's a loop involving
// only nav commands (no DO commands) which won't start()
return false;
}
// if we have not found a do command then set flag to show there are no do-commands to be run before nav command completes
if (!_flags.do_cmd_loaded) {
_flags.do_cmd_all_done = true;