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APM_OBC: don't use _saved_wp when zero

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This commit is contained in:
Andrew Tridgell 2012-08-28 11:59:03 +10:00
parent fc942b2ff9
commit 60a6fed34a
2 changed files with 9 additions and 2 deletions
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10
libraries/APM_OBC/APM_OBC.cpp
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@ -130,7 +130,10 @@ APM_OBC::check(APM_OBC::control_mode mode,
} else if (gcs_link_ok) {
_state = STATE_AUTO;
gcs_send_text_fmt(PSTR("GCS OK"));
change_command(_saved_wp);
if (_saved_wp != 0) {
change_command(_saved_wp);
_saved_wp = 0;
}
}
break;
@ -143,7 +146,10 @@ APM_OBC::check(APM_OBC::control_mode mode,
} else if (gps_lock_ok) {
gcs_send_text_fmt(PSTR("GPS OK"));
_state = STATE_AUTO;
change_command(_saved_wp);
if (_saved_wp != 0) {
change_command(_saved_wp);
_saved_wp = 0;
}
}
break;
}

1
libraries/APM_OBC/APM_OBC.h
View File

@ -43,6 +43,7 @@ public:
// auto mission when a failsafe condition is resolved
enum ap_var_type var_type;
_command_index = (AP_Int8 *)AP_Param::find("CMD_INDEX", &var_type);
_saved_wp = 0;
}
void check(enum control_mode control_mode,