AP_Mission: Verify do commands when running advance_current_nav_cmd()

MattKear · Jan 10, 2024 · a8b00f8 · a8b00f8
1 parent d1ad0ca
commit a8b00f8
Showing 1 changed file with 7 additions and 0 deletions.
diff --git a/libraries/AP_Mission/AP_Mission.cpp b/libraries/AP_Mission/AP_Mission.cpp
@@ -1998,6 +1998,13 @@ bool AP_Mission::advance_current_nav_cmd(uint16_t starting_index)
             }
 
         } else {
+
+            // check the active do command
+            if (verify_command(_do_cmd)) {
+                // mark _do_cmd as complete
+                _flags.do_cmd_loaded = false;
+            }
+
             // set current do command and start it (if not already set)
             if (!_flags.do_cmd_loaded) {
                 _do_cmd = cmd;