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mission_base: make sure to always update state on mission topic update

This commit is contained in:
Konrad 2023-12-13 14:15:07 +01:00 committed by Daniel Agar
parent 97ce599b1f
commit 0a153efb9d
1 changed files with 13 additions and 11 deletions
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24
src/modules/navigator/mission_base.cpp
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@ -111,20 +111,22 @@ void MissionBase::updateMavlinkMission()
mission_s new_mission;
_mission_sub.update(&new_mission);
if (isMissionValid(new_mission)) {
/* Relevant mission items updated externally*/
if (checkMissionDataChanged(new_mission)) {
bool mission_items_changed = (new_mission.mission_id != _mission.mission_id);
const bool mission_items_changed = (new_mission.mission_id != _mission.mission_id);
const bool mission_data_changed = checkMissionDataChanged(new_mission);
if (new_mission.current_seq < 0) {
new_mission.current_seq = math::max(math::min(_mission.current_seq, static_cast<int32_t>(new_mission.count) - 1),
INT32_C(0));
}
if (new_mission.current_seq < 0) {
new_mission.current_seq = math::max(math::min(_mission.current_seq, static_cast<int32_t>(new_mission.count) - 1),
INT32_C(0));
}
_mission = new_mission;
_mission = new_mission;
onMissionUpdate(mission_items_changed);
}
_is_current_planned_mission_item_valid = isMissionValid(_mission);
/* Relevant mission items updated externally*/
if (mission_data_changed) {
onMissionUpdate(mission_items_changed);
}
}
}