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Mission: Replay gimbal cached items before reaching mission waypoint #24085

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merged 1 commit into from
Dec 10, 2024
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Mission: Replay gimbal cached items before reaching mission waypoint #24085

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9 changes: 4 additions & 5 deletions src/modules/navigator/mission_base.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -299,15 +299,14 @@ MissionBase::on_active()
replayCachedCameraModeItems();
}

// Replay cached gimbal commands immediately upon mission resume, but only after the vehicle has reached the final target altitude
if (haveCachedGimbalItems() && _work_item_type != WorkItemType::WORK_ITEM_TYPE_CLIMB) {
replayCachedGimbalItems();
}

// Replay cached mission commands once the last mission waypoint is re-reached after the mission interruption.
// Each replay function also clears the cached items afterwards
if (_mission.current_seq > _mission_activation_index) {
// replay gimbal commands
if (haveCachedGimbalItems()) {
replayCachedGimbalItems();
}

// replay trigger commands
if (cameraWasTriggering()) {
replayCachedTriggerItems();
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