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AP_Mission: emit jump count even if no limit #27003

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May 8, 2024
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AP_Mission: emit jump count even if no limit #27003

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30 changes: 14 additions & 16 deletions libraries/AP_Mission/AP_Mission.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2153,24 +2153,18 @@ bool AP_Mission::get_next_cmd(uint16_t start_index, Mission_Command& cmd, bool i
jump_index = cmd_index;
}

// check if jump command is 'repeat forever'
if (temp_cmd.content.jump.num_times == AP_MISSION_JUMP_REPEAT_FOREVER) {
// get number of times jump command has already been run
if (temp_cmd.content.jump.num_times == AP_MISSION_JUMP_REPEAT_FOREVER ||
get_jump_times_run(temp_cmd) < temp_cmd.content.jump.num_times) {
// update the record of the number of times run
if (increment_jump_num_times_if_found && !_flags.resuming_mission) {
increment_jump_times_run(temp_cmd, send_gcs_msg);
}
// continue searching from jump target
cmd_index = temp_cmd.content.jump.target;
} else {
// get number of times jump command has already been run
int16_t jump_times_run = get_jump_times_run(temp_cmd);
if (jump_times_run < temp_cmd.content.jump.num_times) {
// update the record of the number of times run
if (increment_jump_num_times_if_found && !_flags.resuming_mission) {
increment_jump_times_run(temp_cmd, send_gcs_msg);
}
// continue searching from jump target
cmd_index = temp_cmd.content.jump.target;
} else {
// jump has been run specified number of times so move search to next command in mission
cmd_index++;
}
// jump has been run specified number of times so move search to next command in mission
cmd_index++;
}
} else {
// this is a non-jump command so return it
Expand Down Expand Up @@ -2306,7 +2300,11 @@ void AP_Mission::increment_jump_times_run(Mission_Command& cmd, bool send_gcs_ms
if (_jump_tracking[i].index == cmd.index) {
_jump_tracking[i].num_times_run++;
if (send_gcs_msg) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Mission: %u Jump %i/%i", _jump_tracking[i].index, _jump_tracking[i].num_times_run, cmd.content.jump.num_times);
if (cmd.content.jump.num_times == AP_MISSION_JUMP_REPEAT_FOREVER) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Mission: %u Jump %i/unlimited", _jump_tracking[i].index, _jump_tracking[i].num_times_run);
} else {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Mission: %u Jump %i/%i", _jump_tracking[i].index, _jump_tracking[i].num_times_run, cmd.content.jump.num_times);
}
}
return;
} else if (_jump_tracking[i].index == AP_MISSION_CMD_INDEX_NONE) {
Expand Down
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