fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-28 06:34:06 +08:00
Code Issues Packages Projects Releases Wiki Activity

Have systems loiter at the last waypoint

Browse Source
This commit is contained in:
Lorenz Meier 2013-09-06 16:51:46 +02:00
parent 3d821b8131
commit 6104d14968
2 changed files with 7 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
src/modules/mavlink/missionlib.c
View File

@ -167,9 +167,9 @@ bool set_special_fields(float param1, float param2, float param3, float param4,
sp->loiter_direction = (param3 >= 0) ? 1 : -1;
sp->param1 = param1;
sp->param1 = param2;
sp->param1 = param3;
sp->param1 = param4;
sp->param2 = param2;
sp->param3 = param3;
sp->param4 = param4;
}
/**

6
src/modules/mavlink/waypoints.c
View File

@ -417,6 +417,7 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_
}
if (time_elapsed) {
if (cur_wp->autocontinue) {
cur_wp->current = 0;
@ -425,9 +426,10 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_
if (wpm->current_active_wp_id == wpm->size - 1 && wpm->size > 1) {
/* the last waypoint was reached, if auto continue is
* activated restart the waypoint list from the beginning
* activated keep the system loitering there.
*/
wpm->current_active_wp_id = 0;
cur_wp->MAV_CMD_NAV_LOITER_UNLIM;
cur_wp->param3 = 15.0f // XXX magic number 15 m loiter radius
} else {
if ((uint16_t)(wpm->current_active_wp_id + 1) < wpm->size)