mission_raw: fix sequence for ArduPilot

We need to enter the home item before adding the sequence numbering.

Signed-off-by: Julian Oes <[email protected]>

src/mavsdk/plugins/mission_raw/mission_import.cpp

@@ -112,12 +112,6 @@ MissionImport::import_mission(const Json::Value& root, Autopilot autopilot)
         mission_items[0].current = 1;
     }
 
-    // Don't forget sequence number
-    unsigned sequence = 0;
-    for (auto& mission_item : mission_items) {
-        mission_item.seq = sequence++;
-    }
-
     // Add home position at 0 for ArduPilot
     if (autopilot == Autopilot::ArduPilot) {
         const auto home = mission["plannedHomePosition"];
@@ -146,6 +140,12 @@ MissionImport::import_mission(const Json::Value& root, Autopilot autopilot)
         }
     }
 
+    // Don't forget sequence number
+    unsigned sequence = 0;
+    for (auto& mission_item : mission_items) {
+        mission_item.seq = sequence++;
+    }
+
     // Returning an empty vector is ok here if there were really no mission items.
     return {mission_items};
 }

src/mavsdk/plugins/mission_raw/mission_import_test.cpp

@@ -1,3 +1,4 @@
+#include <algorithm>
 #include <atomic>
 #include <cmath>
 #include <fstream> // for `std::ifstream`
@@ -406,6 +407,11 @@ TEST(MissionRaw, ImportSamplePlanWithArduPilot)
 {
     auto reference_items = create_reference_items();
 
+    // We need to adjust the sequence plus one because we're about to add in home
+    // at 0.
+
+    std::for_each(reference_items.begin(), reference_items.end(), [](auto& item) { ++item.seq; });
+
     auto home_item = MissionRaw::MissionItem{
         0,
         MAV_FRAME_GLOBAL_INT,
@@ -423,9 +429,6 @@ TEST(MissionRaw, ImportSamplePlanWithArduPilot)
 
     reference_items.insert(reference_items.begin(), home_item);
 
-    // There is no need to increment the sequence for all items, the sequence
-    // still starts at 0 after home.
-
     std::ifstream file{path_prefix("qgroundcontrol_sample.plan")};
     ASSERT_TRUE(file);