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mavlink and mission topic: added reading in DO_JUMP mission items

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This commit is contained in:
Julian Oes
2014-04-09 18:39:23 +02:00
parent b96669a531
commit 665a2d6a92
2 changed files with 12 additions and 2 deletions
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src/modules/mavlink/mavlink_main.cpp
+9 -1
View File
@@ -863,7 +863,10 @@ int Mavlink::map_mavlink_mission_item_to_mission_item(const mavlink_mission_item
case MAV_CMD_NAV_TAKEOFF:
mission_item->pitch_min = mavlink_mission_item->param2;
break;
case MAV_CMD_DO_JUMP:
mission_item->do_jump_mission_index = mavlink_mission_item->param1;
/* TODO: also save param2 (repeat count) */
break;
default:
mission_item->acceptance_radius = mavlink_mission_item->param2;
break;
@@ -896,6 +899,11 @@ int Mavlink::map_mission_item_to_mavlink_mission_item(const struct mission_item_
mavlink_mission_item->param2 = mission_item->pitch_min;
break;
case NAV_CMD_DO_JUMP:
mavlink_mission_item->param1 = mission_item->do_jump_mission_index;
/* TODO: also save param2 (repeat count) */
break;
default:
mavlink_mission_item->param2 = mission_item->acceptance_radius;
break;
src/modules/uORB/topics/mission.h
+3 -1
View File
@@ -58,7 +58,8 @@ enum NAV_CMD {
NAV_CMD_LAND=21,
NAV_CMD_TAKEOFF=22,
NAV_CMD_ROI=80,
NAV_CMD_PATHPLANNING=81
NAV_CMD_PATHPLANNING=81,
NAV_CMD_DO_JUMP=177
};
enum ORIGIN {
@@ -91,6 +92,7 @@ struct mission_item_s {
float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */
bool autocontinue; /**< true if next waypoint should follow after this one */
enum ORIGIN origin; /**< where the waypoint has been generated */
int do_jump_mission_index; /**< the mission index that we want to jump to */
};
struct mission_s