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mavlink mission: send an ack on duplicated last uploaded mission item

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Beat Küng
2018-05-28 11:50:52 +02:00
committed by Lorenz Meier
parent ff4d95168e
commit 3f00e2e6c2
1 changed files with 11 additions and 3 deletions
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14
src/modules/mavlink/mavlink_mission.cpp
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@@ -1021,10 +1021,18 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
} }
} else if (_state == MAVLINK_WPM_STATE_IDLE) { } else if (_state == MAVLINK_WPM_STATE_IDLE) {
PX4_DEBUG("WPM: MISSION_ITEM ERROR: no transfer"); if (_transfer_seq == wp.seq + 1) {
// Assume this is a duplicate, where we already successfully got all mission items,
// but the GCS did not receive the last ack and sent the same item again
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ACCEPTED);
} else {
PX4_DEBUG("WPM: MISSION_ITEM ERROR: no transfer");
_mavlink->send_statustext_critical("IGN MISSION_ITEM: No transfer");
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
}
_mavlink->send_statustext_critical("IGN MISSION_ITEM: No transfer");
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
return; return;
} else { } else {