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px4-firmware
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Handle unsupported commands gracefully in terms of their numerical range. Introduce an error code for out-of-range commands.

This commit is contained in:
Lorenz Meier 2015-12-21 09:19:39 +01:00
parent 802ce6ae0b
commit 2041e3f3bc
2 changed files with 10 additions and 3 deletions
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9
src/modules/mavlink/mavlink_mission.cpp
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@ -813,7 +813,14 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
mission_item->yaw = _wrap_pi(mavlink_mission_item->param4 * M_DEG_TO_RAD_F);
mission_item->loiter_radius = fabsf(mavlink_mission_item->param3);
mission_item->loiter_direction = (mavlink_mission_item->param3 > 0) ? 1 : -1; /* 1 if positive CW, -1 if negative CCW */
mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command;
/* unsigned, so can't be negative, only check for overflow */
if (mavlink_mission_item->command >= NAV_CMD_INVALID) {
mission_item->nav_cmd = NAV_CMD_INVALID;
} else {
mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command;
}
mission_item->autocontinue = mavlink_mission_item->autocontinue;
// mission_item->index = mavlink_mission_item->seq;

4
src/modules/navigator/navigation.h
View File

@ -63,8 +63,8 @@ enum NAV_CMD {
NAV_CMD_PATHPLANNING = 81,
NAV_CMD_DO_JUMP = 177,
NAV_CMD_DO_SET_SERVO=183,
NAV_CMD_DO_REPEAT_SERVO=184
NAV_CMD_DO_REPEAT_SERVO=184,
NAV_CMD_INVALID=UINT16_MAX /* ensure that casting a large number results in a specific error */
};
enum ORIGIN {