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use double LAT/LONG fields instead of float params for storing ROI settings

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This commit is contained in:
Alessandro Simovic
2018-08-06 11:24:24 +02:00
committed by Julian Oes
parent 1448285b1c
commit 337133e9fa
2 changed files with 4 additions and 6 deletions
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src/modules/mavlink/mavlink_mission.cpp
-4
View File
@@ -1363,8 +1363,6 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
mission_item->nav_cmd = NAV_CMD_DO_SET_ROI;
mission_item->params[0] = MAV_ROI_LOCATION;
mission_item->params[4] = mission_item->lat;
mission_item->params[5] = mission_item->lon;
mission_item->params[6] = mavlink_mission_item->z;
} else if ((int)mavlink_mission_item->param1 == MAV_ROI_NONE) {
@@ -1379,8 +1377,6 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
case MAV_CMD_DO_SET_ROI_LOCATION:
mission_item->nav_cmd = NAV_CMD_DO_SET_ROI_LOCATION;
mission_item->params[4] = mission_item->lat;
mission_item->params[5] = mission_item->lon;
mission_item->params[6] = mavlink_mission_item->z;
break;
src/modules/navigator/mission_block.cpp
+4 -2
View File
@@ -452,13 +452,15 @@ MissionBlock::issue_command(const mission_item_s &item)
vcmd.param2 = item.params[1];
vcmd.param3 = item.params[2];
vcmd.param4 = item.params[3];
vcmd.param5 = (double)item.params[4];
vcmd.param6 = (double)item.params[5];
if (item.nav_cmd == NAV_CMD_DO_SET_ROI_LOCATION && item.altitude_is_relative) {
vcmd.param5 = item.lat;
vcmd.param6 = item.lon;
vcmd.param7 = item.params[6] + _navigator->get_home_position()->alt;
} else {
vcmd.param5 = item.params[4];
vcmd.param6 = item.params[5];
vcmd.param7 = item.params[6];
}