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check that jump target WPs are geo-referenced (#5666)

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stronnag 2020-05-03 07:29:18 +01:00 • committed by GitHub
parent 5b83dbb066
commit 93e349ec3b
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6
src/main/navigation/navigation.c
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@ -3243,6 +3243,7 @@ navArmingBlocker_e navigationIsBlockingArming(bool *usedBypass)
* First WP can't be JUMP * First WP can't be JUMP
* Can't jump to immediately adjacent WPs (pointless) * Can't jump to immediately adjacent WPs (pointless)
* Can't jump beyond WP list * Can't jump beyond WP list
* Only jump to geo-referenced WP types
*/ */
if (posControl.waypointCount > 0) { if (posControl.waypointCount > 0) {
for (uint8_t wp = 0; wp < posControl.waypointCount ; wp++){ for (uint8_t wp = 0; wp < posControl.waypointCount ; wp++){
@ -3250,6 +3251,11 @@ navArmingBlocker_e navigationIsBlockingArming(bool *usedBypass)
if((wp == 0) || ((posControl.waypointList[wp].p1 > (wp-2)) && (posControl.waypointList[wp].p1 < (wp+2)) ) || (posControl.waypointList[wp].p1 >= posControl.waypointCount) || (posControl.waypointList[wp].p2 < -1)) { if((wp == 0) || ((posControl.waypointList[wp].p1 > (wp-2)) && (posControl.waypointList[wp].p1 < (wp+2)) ) || (posControl.waypointList[wp].p1 >= posControl.waypointCount) || (posControl.waypointList[wp].p2 < -1)) {
return NAV_ARMING_BLOCKER_JUMP_WAYPOINT_ERROR; return NAV_ARMING_BLOCKER_JUMP_WAYPOINT_ERROR;
} }
/* check for target geo-ref sanity */
uint16_t target = posControl.waypointList[wp].p1;
if(!(posControl.waypointList[target].action == NAV_WP_ACTION_WAYPOINT || posControl.waypointList[target].action == NAV_WP_ACTION_HOLD_TIME || posControl.waypointList[target].action == NAV_WP_ACTION_LAND)) {
return NAV_ARMING_BLOCKER_JUMP_WAYPOINT_ERROR;
}
} }
} }
} }