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Merge pull request #10273 from b14ckyy/master

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Thoroughly tested in HITL and more mission tests in real flight will be executed over the next weeks.
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b14ckyy 2024-08-04 01:14:00 +02:00 • committed by GitHub
commit 895be054a9
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1 changed files with 6 additions and 1 deletions
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7
src/main/navigation/navigation.c
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@ -3703,7 +3703,8 @@ void setWaypoint(uint8_t wpNumber, const navWaypoint_t * wpData)
setDesiredPosition(&wpPos.pos, DEGREES_TO_CENTIDEGREES(wpData->p1), waypointUpdateFlags);
}
// WP #1 - #NAV_MAX_WAYPOINTS - common waypoints - pre-programmed mission
else if ((wpNumber >= 1) && (wpNumber <= NAV_MAX_WAYPOINTS) && !ARMING_FLAG(ARMED)) {
else if ((wpNumber >= 1) && (wpNumber <= NAV_MAX_WAYPOINTS) && !FLIGHT_MODE(NAV_WP_MODE)) {
// WP upload is not allowed why WP mode is active
if (wpData->action == NAV_WP_ACTION_WAYPOINT || wpData->action == NAV_WP_ACTION_JUMP || wpData->action == NAV_WP_ACTION_RTH || wpData->action == NAV_WP_ACTION_HOLD_TIME || wpData->action == NAV_WP_ACTION_LAND || wpData->action == NAV_WP_ACTION_SET_POI || wpData->action == NAV_WP_ACTION_SET_HEAD ) {
// Only allow upload next waypoint (continue upload mission) or first waypoint (new mission)
static int8_t nonGeoWaypointCount = 0;
@ -3725,6 +3726,10 @@ void setWaypoint(uint8_t wpNumber, const navWaypoint_t * wpData)
posControl.geoWaypointCount = posControl.waypointCount - nonGeoWaypointCount;
if (posControl.waypointListValid) {
nonGeoWaypointCount = 0;
// If active WP index is bigger than total mission WP number, reset active WP index (Mission Upload mid flight with interrupted mission) if RESUME is enabled
if (posControl.activeWaypointIndex > posControl.waypointCount) {
posControl.activeWaypointIndex = 0;
}
}
}
}