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add point type (mavlink command associated with wp) in Obstacle Avoidance interface

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Martina Rivizzigno
2019-06-24 22:15:34 +02:00
committed by Beat Küng
parent 4d5f922e7a
commit 39e59d6cc4
8 changed files with 43 additions and 19 deletions
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src/modules/mavlink/mavlink_messages.cpp
+17
View File
@@ -3691,6 +3691,23 @@ protected:
msg.pos_yaw[i] = traj_wp_avoidance_desired.waypoints[i].yaw;
msg.vel_yaw[i] = traj_wp_avoidance_desired.waypoints[i].yaw_speed;
switch (traj_wp_avoidance_desired.waypoints[i].type) {
case position_setpoint_s::SETPOINT_TYPE_TAKEOFF:
msg.command[i] = vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF;
break;
case position_setpoint_s::SETPOINT_TYPE_LOITER:
msg.command[i] = vehicle_command_s::VEHICLE_CMD_NAV_LOITER_UNLIM;
break;
case position_setpoint_s::SETPOINT_TYPE_LAND:
msg.command[i] = vehicle_command_s::VEHICLE_CMD_NAV_LAND;
break;
default:
msg.command[i] = UINT16_MAX;
}
if (traj_wp_avoidance_desired.waypoints[i].point_valid) {
number_valid_points++;
}
src/modules/mavlink/mavlink_receiver.cpp
+1
View File
@@ -1713,6 +1713,7 @@ MavlinkReceiver::handle_message_trajectory_representation_waypoints(mavlink_mess
trajectory_waypoint.waypoints[i].yaw = trajectory.pos_yaw[i];
trajectory_waypoint.waypoints[i].yaw_speed = trajectory.vel_yaw[i];
trajectory_waypoint.waypoints[i].type = UINT8_MAX;
}
for (int i = 0; i < number_valid_points; ++i) {