fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 00:03:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Mission topic: make nav_cmd compatible to the mavlink command

Browse Source
This commit is contained in:
Julian Oes
2013-11-22 21:21:30 +01:00
parent 1da7599541
commit 01df715f94
2 changed files with 13 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/waypoints.c
+2 -2
View File
@@ -78,7 +78,7 @@ void map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavl
mission_item->yaw = mavlink_mission_item->param4*M_DEG_TO_RAD_F;
mission_item->loiter_radius = fabsf(mavlink_mission_item->param3);
mission_item->loiter_direction = (mavlink_mission_item->param3 > 0) ? 1 : -1; /* 1 if positive CW, -1 if negative CCW */
mission_item->nav_cmd = NAV_CMD_WAYPOINT; // TODO correct
mission_item->nav_cmd = mavlink_mission_item->command;
mission_item->radius = mavlink_mission_item->param1;
mission_item->time_inside = mavlink_mission_item->param2 / 1e3f; /* from milliseconds to seconds */
mission_item->autocontinue = mavlink_mission_item->autocontinue;
@@ -93,7 +93,7 @@ void map_mission_item_to_mavlink_mission_item(const struct mission_item_s *missi
mavlink_mission_item->z = mission_item->altitude;
mavlink_mission_item->param4 = mission_item->yaw*M_RAD_TO_DEG_F;
mavlink_mission_item->param3 = mission_item->loiter_radius*(float)mission_item->loiter_direction;
mavlink_mission_item->command = MAV_CMD_NAV_WAYPOINT; // TODO add
mavlink_mission_item->command = mission_item->nav_cmd;
mavlink_mission_item->param1 = mission_item->radius;
mavlink_mission_item->param2 = mission_item->time_inside * 1e3f; /* from seconds to milliseconds */
mavlink_mission_item->autocontinue = mission_item->autocontinue;