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AP_Mission: get_item: ensure returned item is clean #29038

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AP_Mission: get_item: ensure returned item is clean #29038

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AP_Mission: get_item: ensure returned item is clean
IamPete1 Jan 10, 2025
1f79dc1
AP_Mission: mission_cmd_to_mavlink_int: set defualt values for x y an…
IamPete1 Jan 10, 2025
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15 changes: 11 additions & 4 deletions libraries/AP_Mission/AP_Mission.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -729,7 +729,7 @@ bool AP_Mission::set_item(uint16_t index, mavlink_mission_item_int_t& src_packet

bool AP_Mission::get_item(uint16_t index, mavlink_mission_item_int_t& ret_packet) const
{
mavlink_mission_item_int_t tmp;
mavlink_mission_item_int_t tmp {};

// can't handle request for anything bigger than the mission size...
if (index >= num_commands()) {
Expand Down Expand Up @@ -760,7 +760,7 @@ bool AP_Mission::get_item(uint16_t index, mavlink_mission_item_int_t& ret_packet
tmp.current = 0;
}

// set auto continue to 1, becasue that's what's done elsewhere.
// set auto continue to 1, because that's what's done elsewhere.
tmp.autocontinue = 1; // 1 (true), 0 (false)
tmp.command = cmd.id;

Expand Down Expand Up @@ -1577,12 +1577,19 @@ bool AP_Mission::mission_cmd_to_mavlink_int(const AP_Mission::Mission_Command& c

// set defaults
packet.current = 0; // 1 if we are passing back the mission command that is currently being executed
packet.frame = 0;
packet.autocontinue = 1;

// Strictly these should be defaulted to NaN
packet.param1 = 0;
packet.param2 = 0;
packet.param3 = 0;
packet.param4 = 0;
packet.frame = 0;
packet.autocontinue = 1;

// Strictly these should be defaulted to INT32_MAX for x and y and NaN for z
packet.x = 0;
packet.y = 0;
packet.z = 0;

// command specific conversions from mission command to mavlink packet
switch (cmd.id) {
Expand Down
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