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Mission: fix bug causing first do-cmd to be run many times

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The symptom was that if the very first command in the mission was a
do-command, it would be run after every nav-command that didn't have
another do-command before it.
This commit is contained in:
Randy Mackay 2015-07-17 12:13:28 +09:00
parent 429346f4bc
commit 766ccea3be
1 changed files with 16 additions and 1 deletions
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17
libraries/AP_Mission/AP_Mission.cpp
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@ -198,7 +198,7 @@ void AP_Mission::update()
}
// check if we have an active do command
if (!_flags.do_cmd_loaded || _do_cmd.index == AP_MISSION_CMD_INDEX_NONE) {
if (!_flags.do_cmd_loaded) {
advance_current_do_cmd();
}else{
// run the active do command
@ -346,6 +346,11 @@ bool AP_Mission::set_current_cmd(uint16_t index)
index = cmd.index+1;
}
// 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;
}
// if we got this far then the mission can safely be "resumed" from the specified index so we set the state to "stopped"
_flags.state = MISSION_STOPPED;
return true;
@ -383,6 +388,11 @@ bool AP_Mission::set_current_cmd(uint16_t index)
index = cmd.index+1;
}
// 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;
}
// if we got this far we must have successfully advanced the nav command
return true;
}
@ -1128,6 +1138,11 @@ bool AP_Mission::advance_current_nav_cmd()
cmd_index = cmd.index+1;
}
// 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;
}
// if we got this far we must have successfully advanced the nav command
return true;
}