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Rover: fix to support uploading partial missions

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This commit is contained in:
Randy Mackay 2014-03-17 16:07:18 +09:00
parent 30194b9e72
commit df5c874f73
1 changed files with 3 additions and 7 deletions
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10
APMrover2/GCS_Mavlink.pde
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@ -1115,7 +1115,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
mavlink_msg_command_long_decode(msg, &packet);
if (mavlink_check_target(packet.target_system, packet.target_component)) break;
uint8_t result = MAV_RESULT_UNSUPPORTED;
uint8_t result = MAV_RESULT_UNSUPPORTED;
// do command
send_text_P(SEVERITY_LOW,PSTR("command received: "));
@ -1444,12 +1444,8 @@ mission_item_send_failed:
break;
}
// new mission arriving, clear current mission
if (!mission.clear()) {
// return error if we were unable to clear the mission (possibly because we're currently flying the mission)
mavlink_msg_mission_ack_send(chan, msg->sysid, msg->compid, MAV_MISSION_ERROR);
break;
}
// new mission arriving, truncate mission to be the same length
mission.truncate(packet.count);
waypoint_timelast_receive = millis();
waypoint_timelast_request = 0;