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

mavlink: don't interfere in ongoing transfers

Browse Source 
As a convenience we send down the amount of do jumps left to do.
However, we should not send the mission item if happen to be in the
middle of another transfer.
This commit is contained in:
Julian Oes
2019-11-27 11:14:47 +01:00
committed by Daniel Agar
parent 96fc68ebef
commit c5b9ccdc85
1 changed files with 7 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
src/modules/mavlink/mavlink_mission.cpp
View File

@@ -498,10 +498,13 @@ MavlinkMissionManager::send(const hrt_abstime now)
send_mission_current(_current_seq);
if (mission_result.item_do_jump_changed) {
/* send a mission item again if the remaining DO_JUMPs has changed */
_mission_type = MAV_MISSION_TYPE_MISSION;
send_mission_item(_transfer_partner_sysid, _transfer_partner_compid,
(uint16_t)mission_result.item_changed_index);
/* Send a mission item again if the remaining DO_JUMPs has changed, but don't interfere
* if there are ongoing transfers happening already. */
if (_state == MAVLINK_WPM_STATE_IDLE) {
_mission_type = MAV_MISSION_TYPE_MISSION;
send_mission_item(_transfer_partner_sysid, _transfer_partner_compid,
(uint16_t)mission_result.item_changed_index);
}
}
} else {