From 6172315cf7d855021e9f80db14575024defb9c15 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Wed, 20 Dec 2017 01:29:57 -0500 Subject: [PATCH] navigator mission_result fix increment sign --- src/modules/navigator/navigator.h | 4 +--- src/modules/navigator/navigator_main.cpp | 3 +-- 2 files changed, 2 insertions(+), 5 deletions(-) diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h index 02ccd524ea..45e3f8964e 100644 --- a/src/modules/navigator/navigator.h +++ b/src/modules/navigator/navigator.h @@ -233,7 +233,7 @@ public: orb_advert_t *get_mavlink_log_pub() { return &_mavlink_log_pub; } - void increment_mission_instance_count() { _mission_instance_count++; } + void increment_mission_instance_count() { _mission_result.instance_count++; } void set_mission_failure(const char *reason); @@ -290,8 +290,6 @@ private: position_setpoint_triplet_s _takeoff_triplet{}; /**< triplet for non-mission direct takeoff command */ vehicle_roi_s _vroi{}; /**< vehicle ROI */ - int _mission_instance_count{-1}; /**< instance count for the current mission */ - perf_counter_t _loop_perf; /**< loop performance counter */ Geofence _geofence; /**< class that handles the geofence */ diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 4830cce0ff..6f3b43d67a 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -497,7 +497,7 @@ Navigator::task_main() publish_vehicle_command_ack(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED); } else if (cmd.command == vehicle_command_s::VEHICLE_CMD_MISSION_START) { - if (get_mission_result()->valid && + if (_mission_result.valid && PX4_ISFINITE(cmd.param1) && (cmd.param1 >= 0) && (cmd.param1 < _mission_result.seq_total)) { _mission.set_current_offboard_mission_index(cmd.param1); @@ -1114,7 +1114,6 @@ void Navigator::publish_mission_result() { _mission_result.timestamp = hrt_absolute_time(); - _mission_result.instance_count = _mission_instance_count; /* lazily publish the mission result only once available */ if (_mission_result_pub != nullptr) {