ArduPilot/ardupilot

handle_mission_write_partial_list is too strict

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#4,889 创建于 2016年9月25日

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 (3 评论) (0 反应) (0 负责人)C++ (9,336 star) (15,603 fork)batch import
AllVehiclesLibraryMAVLinkgood first issue

描述

Issue details

Currently GCSCommon.cpp@handle_mission_write_partial_list checks if the partial waypoint list is inside the current mission count boundary unnecessarily. This limits the utility of partial waypoint writing modifications because we can never expand the mission count.

A very simple case is appending a waypoint to a waypoint list. As far as I know a full rewrite of the mission plan would be required because the only other way to change the waypoint list is sending a mavlink_msg_mission_count* message with the previous mission count plus one. This is exactly what a partial list is for.

Removing the upper bound checks would not result in a problem because GCS_Common.cpp@GCS_MAVLINK::handle_mission_item:839 already handles the case where the mission seq is bigger than mission.num_commands().

Am I wrong in these assumptions? If theoretically there is no problem I can produce a patch removing the upper bound checks.

贡献者指南

技术栈
cpp
领域
backend
议题类型
bug
难度面向新贡献者的预计实现难度，1 表示很小改动，5 表示专家级工作。
3
预计时间有经验贡献者完成调查、实现、测试并准备 pull request 的粗略时间范围。
1-3 hours
活动状态议题当前的可参与程度：新鲜、活跃、陈旧、阻塞或等待维护者输入。
stale
清晰度议题是否清楚说明期望改动、验收标准和下一步。
clear
前置要求
basic C++ knowledgeMAVLink mission protocol overview
新手友好度1-100 的估计分数，表示该议题对首次贡献者的友好程度。
45
研究方向
The issue proposes removing upper bound checks in `GCSCommon.cpp`'s `handle mission write partial list`. Review the referenced file and function to understand the current logic. Also examine `GCS Common.cpp` line 839 to confirm that handling of out of range mission seq is already safe. Consider writing a simple patch and testing with a mission count increase scenario. There are 3 comments on the issue; read them for additional context. The fix is localized and well documented.