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Update navigation.c

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Block NVM WP load when mission planner WP set
reset all WP counters on restart
This commit is contained in:
breadoven 2021-05-15 14:14:03 +01:00
parent b37c1c43e8
commit a1ac16ec2b
1 changed files with 4 additions and 2 deletions
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6
src/main/navigation/navigation.c
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@ -2868,7 +2868,7 @@ int getWaypointCount(void)
#ifdef NAV_NON_VOLATILE_WAYPOINT_STORAGE
bool loadNonVolatileWaypointList(void)
{
if (ARMING_FLAG(ARMED))
if (ARMING_FLAG(ARMED) || posControl.wpPlannerActiveWPIndex) // prevent EEPROM load if mission planner WP count > 0
return false;
// if waypoints are already loaded, just unload them.
@ -3436,7 +3436,9 @@ void updateWpMissionPlanner(void)
const bool positionTrusted = posControl.flags.estAltStatus == EST_TRUSTED && posControl.flags.estPosStatus == EST_TRUSTED && STATE(GPS_FIX);
if (positionTrusted && posControl.wpMissionPlannerStatus != WP_PLAN_FULL) {
if (!posControl.flags.wpMissionPlannerActive) {
// reset WP index if no resume when mode reselected ON
posControl.wpPlannerActiveWPIndex = navConfig()->general.flags.mission_planner_resume ? posControl.wpPlannerActiveWPIndex : 0;
posControl.waypointCount = posControl.wpPlannerActiveWPIndex;
}
posControl.flags.wpMissionPlannerActive = true;
waypointMissionPlanner();
@ -3452,7 +3454,7 @@ void waypointMissionPlanner(void)
{
static bool boxWPModeIsReset = true;
boxWPModeIsReset = !boxWPModeIsReset ? !IS_RC_MODE_ACTIVE(BOXNAVWP) : boxWPModeIsReset; // able to save new WP only when WP mode reset
boxWPModeIsReset = !boxWPModeIsReset ? !IS_RC_MODE_ACTIVE(BOXNAVWP) : boxWPModeIsReset; // only able to save new WP when WP mode reset
posControl.wpMissionPlannerStatus = boxWPModeIsReset ? boxWPModeIsReset : posControl.wpMissionPlannerStatus; // hold save status until WP mode reset
if (!boxWPModeIsReset || !IS_RC_MODE_ACTIVE(BOXNAVWP)) {