AP_Mission: DO_RETURN_PATH_START limit worst case runtime
#28608
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IamPete1
commented
Nov 13, 2024
| // Go through mission and check each DO_RETURN_PATH_START | ||
| for (uint16_t i = 1; i < num_commands(); i++) { | ||
| Mission_Command tmp; | ||
| if (read_cmd_from_storage(i, tmp) && (tmp.id == MAV_CMD_DO_RETURN_PATH_START)) { | ||
| if (get_command_id(i) == uint16_t(MAV_CMD_DO_RETURN_PATH_START)) { |
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This is a efficiency saving, we were only checking the ID, so we don't need the full command.
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tridge
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Nov 26, 2024
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If you fill your mission with
DO_RETURN_PATH_STARTway-points the best rejoin location calculation will take so long that the flight controller watchdogs.This adds a worst case limit of 1000 search points. The limit used to be 254 points per
DO_RETURN_PATH_START, the the new limit is equivalent to four maximum length return path options. This change allows a single path to be longer.#28574