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AP_Mission: Fixes crash in copter when uploading MAV_CMD_NAV_LAND with NaN as p4

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Uploading a mission created in QGC with MAV_CMD_NAV_LAND (instead of return to launch) results in crash of copter because p4 is not set.
This commit is contained in:
James O'Shannessy 2021-05-13 13:11:11 +10:00 committed by Andrew Tridgell
parent 606c248e69
commit 1794eefd33
1 changed files with 3 additions and 1 deletions
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2
libraries/AP_Mission/AP_Mission.cpp
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@ -915,7 +915,9 @@ MAV_MISSION_RESULT AP_Mission::mavlink_int_to_mission_cmd(const mavlink_mission_
case MAV_CMD_NAV_LAND: // MAV ID: 21 case MAV_CMD_NAV_LAND: // MAV ID: 21
cmd.p1 = packet.param1; // abort target altitude(m) (plane only) cmd.p1 = packet.param1; // abort target altitude(m) (plane only)
if (!isnan(packet.param4)) {
cmd.content.location.loiter_ccw = is_negative(packet.param4); // yaw direction, (plane deepstall only) cmd.content.location.loiter_ccw = is_negative(packet.param4); // yaw direction, (plane deepstall only)
}
break; break;
case MAV_CMD_NAV_TAKEOFF: // MAV ID: 22 case MAV_CMD_NAV_TAKEOFF: // MAV ID: 22