yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 01:12:31 +00:00
Code Issues Packages Projects Releases Wiki Activity

navigator mission_result fix increment sign

Browse Source
This commit is contained in:
Daniel Agar
2017-12-20 01:29:57 -05:00
committed by Lorenz Meier
parent a4be7ae7d0
commit 6172315cf7
2 changed files with 2 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files

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

@@ -233,7 +233,7 @@ public:
orb_advert_t *get_mavlink_log_pub() { return &_mavlink_log_pub; }
void increment_mission_instance_count() { _mission_instance_count++; }
void increment_mission_instance_count() { _mission_result.instance_count++; }
void set_mission_failure(const char *reason);
@@ -290,8 +290,6 @@ private:
position_setpoint_triplet_s _takeoff_triplet{}; /**< triplet for non-mission direct takeoff command */
vehicle_roi_s _vroi{}; /**< vehicle ROI */
int _mission_instance_count{-1}; /**< instance count for the current mission */
perf_counter_t _loop_perf; /**< loop performance counter */
Geofence _geofence; /**< class that handles the geofence */

3
src/modules/navigator/navigator_main.cpp
View File

@@ -497,7 +497,7 @@ Navigator::task_main()
publish_vehicle_command_ack(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_MISSION_START) {
if (get_mission_result()->valid &&
if (_mission_result.valid &&
PX4_ISFINITE(cmd.param1) && (cmd.param1 >= 0) && (cmd.param1 < _mission_result.seq_total)) {
_mission.set_current_offboard_mission_index(cmd.param1);
@@ -1114,7 +1114,6 @@ void
Navigator::publish_mission_result()
{
_mission_result.timestamp = hrt_absolute_time();
_mission_result.instance_count = _mission_instance_count;
/* lazily publish the mission result only once available */
if (_mission_result_pub != nullptr) {