Merge pull request #423 from dronecore/fix-json-null

mission: import null as NaN
mavlink · Jun 13, 2018 · aa86369 · aa86369
2 parents 3e71a3c + 20676e4
commit aa86369
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Showing 2 changed files with 12 additions and 7 deletions.
diff --git a/plugins/mission/mission_impl.cpp b/plugins/mission/mission_impl.cpp
@@ -1208,7 +1208,12 @@ Mission::Result MissionImpl::import_mission_items(Mission::mission_items_t &all_
         // Extract parameters of each mission item
         std::vector<double> params;
         for (auto &p : json_mission_item["params"].array_items()) {
-            params.push_back(p.number_value());
+            if (p.is_null()) {
+                // QGC sets params as `null` if they should be unchanged.
+                params.push_back(NAN);
+            } else {
+                params.push_back(p.number_value());
+            }
         }
 
         result = build_mission_items(command, params, new_mission_item, all_mission_items);

diff --git a/plugins/mission/mission_import_qgc_test.cpp b/plugins/mission/mission_import_qgc_test.cpp
@@ -38,8 +38,8 @@ TEST(QGCMissionImport, ValidateQGCMissonItems)
     // These mission items are meant to match those in
     // file:://plugins/mission/qgroundcontrol_sample.plan
     QGCMissionItem items_test[] = {
-        {MAV_CMD_NAV_TAKEOFF, {0., 0., 0., 0., 47.39781011, 8.54553801, 15.}},
-        {MAV_CMD_NAV_WAYPOINT, {0., 0., 0., 0., 47.39779921, 8.54546693, 15.}},
+        {MAV_CMD_NAV_TAKEOFF, {0., 0., 0., double(NAN), 47.39781011, 8.54553801, 15.}},
+        {MAV_CMD_NAV_WAYPOINT, {0., 0., 0., double(NAN), 47.39779921, 8.54546693, 15.}},
         {MAV_CMD_DO_MOUNT_CONTROL, {25.0, 0., 50.0}}, // Gimbal pitch & yaw in deg
         {MAV_CMD_NAV_WAYPOINT, {0., 0., 0., 0., 47.39773658, 8.54543743, 15.}},
         {MAV_CMD_IMAGE_START_CAPTURE,
@@ -55,13 +55,13 @@ TEST(QGCMissionImport, ValidateQGCMissonItems)
              1.,
              0.,
          }}, // Start image capture
-        {MAV_CMD_NAV_WAYPOINT, {0., 0., 0., 0., 47.39768029, 8.54561177, 15.}},
+        {MAV_CMD_NAV_WAYPOINT, {0., 0., 0., double(NAN), 47.39768029, 8.54561177, 15.}},
         {MAV_CMD_DO_CHANGE_SPEED, {1., 100., -1., 0}},
-        {MAV_CMD_NAV_WAYPOINT, {0., 0., 0., 0., 47.39779649, 8.54566005, 15.}},
+        {MAV_CMD_NAV_WAYPOINT, {0., 0., 0., double(NAN), 47.39779649, 8.54566005, 15.}},
         {MAV_CMD_NAV_LOITER_TIME, {30.}}, // Loiter for 30 seconds
-        {MAV_CMD_NAV_WAYPOINT, {0., 0., 0., 0., 47.39779468, 8.54561445, 15.}},
+        {MAV_CMD_NAV_WAYPOINT, {0., 0., 0., double(NAN), 47.39779468, 8.54561445, 15.}},
         {MAV_CMD_VIDEO_START_CAPTURE, {}}, // Start video capture
-        {MAV_CMD_NAV_WAYPOINT, {0., 0., 0., 0., 47.39784279, 8.54553533, 15.}},
+        {MAV_CMD_NAV_WAYPOINT, {0., 0., 0., double(NAN), 47.39784279, 8.54553533, 15.}},
         {MAV_CMD_IMAGE_STOP_CAPTURE, {}}, // Stop image capture
         {MAV_CMD_VIDEO_STOP_CAPTURE, {}}, // Stop video capture
     };