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Reject JUMP waypoints with an out-of-range target #11900

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Reject JUMP waypoints with an out-of-range target #11900

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0012145
navigation: reject JUMP waypoints with an out-of-range target
Sep 10, 2026
11a226b
Invalidate the old mission before rejecting its replacement
Raffi1202 Sep 11, 2026
3645ed5
Re-run CI
Raffi1202 Sep 23, 2026
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7 changes: 6 additions & 1 deletion src/main/navigation/navigation.c
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Original file line number Diff line number Diff line change
Expand Up @@ -5474,6 +5474,11 @@ void setWaypoint(uint8_t wpNumber, const navWaypoint_t * wpData)
if (wpNumber == (posControl.waypointCount + 1) || wpNumber == 1) {
if (wpNumber == 1) {
resetWaypointList();
nonGeoWaypointCount = 0;
}
// Reject the new mission after clearing the previous one, before copying or converting the target.
if (wpData->action == NAV_WP_ACTION_JUMP && (wpData->p1 < 1 || wpData->p1 > NAV_MAX_WAYPOINTS)) {
return;
}
posControl.waypointList[wpNumber - 1] = *wpData;
if(wpData->action == NAV_WP_ACTION_SET_POI || wpData->action == NAV_WP_ACTION_SET_HEAD || wpData->action == NAV_WP_ACTION_JUMP) {
Expand Down Expand Up @@ -6366,7 +6371,7 @@ navArmingBlocker_e navigationIsBlockingArming(bool *usedBypass)
if (posControl.waypointCount) {
for (uint8_t wp = posControl.startWpIndex; wp < posControl.waypointCount + posControl.startWpIndex; wp++){
if (posControl.waypointList[wp].action == NAV_WP_ACTION_JUMP){
if (wp == posControl.startWpIndex || posControl.waypointList[wp].p1 >= posControl.waypointCount ||
if (wp == posControl.startWpIndex || posControl.waypointList[wp].p1 < 0 || posControl.waypointList[wp].p1 >= posControl.waypointCount ||
(posControl.waypointList[wp].p1 > (wp - posControl.startWpIndex - 2) && posControl.waypointList[wp].p1 < (wp - posControl.startWpIndex + 2)) || posControl.waypointList[wp].p2 < -1) {
return NAV_ARMING_BLOCKER_JUMP_WAYPOINT_ERROR;
}
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