From add3692357bcec94e0ccb3017f3f6bc9d783e917 Mon Sep 17 00:00:00 2001 From: Nicolas de Palezieux Date: Thu, 4 Jan 2018 10:18:22 +0100 Subject: [PATCH] ROI: accept ROIs of type None in missions to enable 'deactivating' another ROI --- src/modules/mavlink/mavlink_mission.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp index 744cbedcb1..f25f5fd0b8 100644 --- a/src/modules/mavlink/mavlink_mission.cpp +++ b/src/modules/mavlink/mavlink_mission.cpp @@ -1352,6 +1352,10 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t * mission_item->params[5] = mavlink_mission_item->y; mission_item->params[6] = mavlink_mission_item->z; + } else if ((int)mavlink_mission_item->param1 == MAV_ROI_NONE) { + mission_item->nav_cmd = NAV_CMD_DO_SET_ROI; + mission_item->params[0] = MAV_ROI_NONE; + } else { return MAV_MISSION_INVALID_PARAM1; }