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navigator: fix do jumps: after the repetitions are completed the current mission index is no longer invalid

This commit is contained in:
Julian Oes 2014-11-12 12:11:23 +10:00
parent f1058bdf08
commit 703fcec62d
1 changed files with 12 additions and 9 deletions
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21
src/modules/navigator/mission.cpp
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@ -371,7 +371,7 @@ Mission::set_mission_items()
} else {
/* no mission available or mission finished, switch to loiter */
if (_mission_type != MISSION_TYPE_NONE) {
mavlink_log_critical(_navigator->get_mavlink_fd(), "mission finished, loitering");
mavlink_log_critical(_navigator->get_mavlink_fd(), "mission finished");
/* use last setpoint for loiter */
_navigator->set_can_loiter_at_sp(true);
@ -595,13 +595,14 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s
dm_item = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id);
}
if (*mission_index_ptr < 0 || *mission_index_ptr >= (int)mission->count) {
/* mission item index out of bounds */
return false;
}
/* repeat several to get the mission item because we might have to follow multiple DO_JUMPS */
for (int i = 0; i < 10; i++) {
if (*mission_index_ptr < 0 || *mission_index_ptr >= (int)mission->count) {
/* mission item index out of bounds */
return false;
}
const ssize_t len = sizeof(struct mission_item_s);
/* read mission item to temp storage first to not overwrite current mission item if data damaged */
@ -630,7 +631,7 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s
/* not supposed to happen unless the datamanager can't access the
* dataman */
mavlink_log_critical(_navigator->get_mavlink_fd(),
"ERROR DO JUMP waypoint could not be written");
"ERROR DO JUMP waypoint could not be written");
return false;
}
}
@ -639,8 +640,10 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s
*mission_index_ptr = mission_item_tmp.do_jump_mission_index;
} else {
mavlink_log_critical(_navigator->get_mavlink_fd(),
"DO JUMP repetitions completed");
if (is_current) {
mavlink_log_critical(_navigator->get_mavlink_fd(),
"DO JUMP repetitions completed");
}
/* no more DO_JUMPS, therefore just try to continue with next mission item */
(*mission_index_ptr)++;
}