fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-31 06:01:37 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge pull request #1035 from PX4/missionitemparams

Browse Source 
mavlink: fix usage of mission item param fields
This commit is contained in:
Lorenz Meier
2014-06-01 05:16:16 -07:00
parent 7b012bfd0b 794b853a3b
commit 8aeb327e7a
1 changed files with 3 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink_main.cpp
+3 -3
View File
@@ -896,6 +896,7 @@ int Mavlink::map_mavlink_mission_item_to_mission_item(const mavlink_mission_item
default: default:
mission_item->acceptance_radius = mavlink_mission_item->param2; mission_item->acceptance_radius = mavlink_mission_item->param2;
mission_item->time_inside = mavlink_mission_item->param1;
break; break;
} }
@@ -904,7 +905,6 @@ int Mavlink::map_mavlink_mission_item_to_mission_item(const mavlink_mission_item
mission_item->loiter_direction = (mavlink_mission_item->param3 > 0) ? 1 : -1; /* 1 if positive CW, -1 if negative CCW */ 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)mavlink_mission_item->command; mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command;
mission_item->time_inside = mavlink_mission_item->param1;
mission_item->autocontinue = mavlink_mission_item->autocontinue; mission_item->autocontinue = mavlink_mission_item->autocontinue;
// mission_item->index = mavlink_mission_item->seq; // mission_item->index = mavlink_mission_item->seq;
mission_item->origin = ORIGIN_MAVLINK; mission_item->origin = ORIGIN_MAVLINK;
@@ -923,11 +923,12 @@ int Mavlink::map_mission_item_to_mavlink_mission_item(const struct mission_item_
switch (mission_item->nav_cmd) { switch (mission_item->nav_cmd) {
case NAV_CMD_TAKEOFF: case NAV_CMD_TAKEOFF:
mavlink_mission_item->param2 = mission_item->pitch_min; mavlink_mission_item->param1 = mission_item->pitch_min;
break; break;
default: default:
mavlink_mission_item->param2 = mission_item->acceptance_radius; mavlink_mission_item->param2 = mission_item->acceptance_radius;
mavlink_mission_item->param1 = mission_item->time_inside;
break; break;
} }
@@ -938,7 +939,6 @@ int Mavlink::map_mission_item_to_mavlink_mission_item(const struct mission_item_
mavlink_mission_item->param4 = mission_item->yaw * M_RAD_TO_DEG_F; 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->param3 = mission_item->loiter_radius * (float)mission_item->loiter_direction;
mavlink_mission_item->command = mission_item->nav_cmd; mavlink_mission_item->command = mission_item->nav_cmd;
mavlink_mission_item->param1 = mission_item->time_inside;
mavlink_mission_item->autocontinue = mission_item->autocontinue; mavlink_mission_item->autocontinue = mission_item->autocontinue;
// mavlink_mission_item->seq = mission_item->index; // mavlink_mission_item->seq = mission_item->index;