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fix(navigator): only update mission cache when mission properly copied

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jonas
2026-07-27 08:28:45 +02:00
committed by Beat Küng
parent 0596740d18
commit af4ab1bb8b
1 changed files with 13 additions and 5 deletions
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src/modules/navigator/navigator_main.cpp
+13 -5
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@@ -250,6 +250,7 @@ void Navigator::run()
uint32_t geofence_id{0};
mission_s mission{};
bool mission_received{false};
/* rate-limit position subscription to 20 Hz / 50 ms */
orb_set_interval(_local_pos_sub, 50);
@@ -275,16 +276,23 @@ void Navigator::run()
orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vstatus);
if (fds[2].revents & POLLIN) {
orb_copy(ORB_ID(mission), _mission_sub, &mission);
mission_s mission_update{};
if (mission.geofence_id != geofence_id) {
geofence_id = mission.geofence_id;
_geofence.updateFence();
if (orb_copy(ORB_ID(mission), _mission_sub, &mission_update) == PX4_OK) {
mission = mission_update;
mission_received = true;
if (mission.geofence_id != geofence_id) {
geofence_id = mission.geofence_id;
_geofence.updateFence();
}
}
}
_mission_route_cache.update(mission);
if (mission_received) {
_mission_route_cache.update(mission);
}
/* gps updated */
if (_gps_pos_sub.updated()) {