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AP_Mission: Prohibit resuming mission waypoints that are no longer in the mission

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Michael du Breuil 2017-05-24 09:24:19 -07:00 committed by Tom Pittenger
parent b57280125c
commit 7e5aa5bc4c
1 changed files with 7 additions and 3 deletions
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10
libraries/AP_Mission/AP_Mission.cpp
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@ -92,9 +92,13 @@ void AP_Mission::resume()
}
// ensure cache coherence
// don't bother checking if the read is successful. If it fails _nav_cmd
// won't change and we'll continue flying the old cached command.
read_cmd_from_storage(_nav_cmd.index, _nav_cmd);
if (!read_cmd_from_storage(_nav_cmd.index, _nav_cmd)) {
// if we failed to read the command from storage, then the command may have
// been from a previously loaded mission it is illogical to ever resume
// flying to a command that has been excluded from the current mission
start();
return;
}
// restart active navigation command. We run these on resume()
// regardless of whether the mission was stopped, as we may be