From 2390c57366f26d8f8ad3c4655eb6e042ab3cdf73 Mon Sep 17 00:00:00 2001 From: DonLakeFlyer Date: Fri, 4 Dec 2015 11:50:13 -0800 Subject: [PATCH] APM Mission fixes --- src/MissionManager/MissionController.cc | 2 +- src/MissionManager/MissionManager.cc | 5 +++-- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc index fd9135603..f62437dc9 100644 --- a/src/MissionManager/MissionController.cc +++ b/src/MissionManager/MissionController.cc @@ -435,7 +435,7 @@ void MissionController::_initAllMissionItems(void) homeItem->setCoordinate(_activeVehicle->homePosition()); homeItem->setHomePositionValid(_activeVehicle->homePositionAvailable()); } - homeItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_LAST); + homeItem->setCommand(MAV_CMD_NAV_WAYPOINT); homeItem->setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT); homeItem->setSequenceNumber(0); _missionItems->insert(0, homeItem); diff --git a/src/MissionManager/MissionManager.cc b/src/MissionManager/MissionManager.cc index faea0d813..66447ea7d 100644 --- a/src/MissionManager/MissionManager.cc +++ b/src/MissionManager/MissionManager.cc @@ -368,7 +368,7 @@ void MissionManager::_handleMissionAck(const mavlink_message_t& message) { mavlink_mission_ack_t missionAck; - // Save th retry ack before calling _stopAckTimeout since we'll need it to determine what + // Save the retry ack before calling _stopAckTimeout since we'll need it to determine what // type of a protocol sequence we are in. AckType_t savedRetryAck = _retryAck; @@ -418,7 +418,8 @@ void MissionManager::_handleMissionAck(const mavlink_message_t& message) } else { qCDebug(MissionManagerLog) << "_handleMissionAck ack error:" << _missionResultToString((MAV_MISSION_RESULT)missionAck.type); if (!_retrySequence(AckMissionRequest)) { - _sendError(VehicleError, QString("Vehicle returned error: %1. Vehicle only has partial list of mission items.").arg(_missionResultToString((MAV_MISSION_RESULT)missionAck.type))); + _sendError(VehicleError, + QString("Vehicle returned error: %1 on item %2. Vehicle only has partial list of mission items.").arg(_missionResultToString((MAV_MISSION_RESULT)missionAck.type)).arg(_expectedSequenceNumber)); } } break; -- 2.22.0