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add missing conversion from mission item to mavlink mission item after changes from b7652986d9cc0fe3edc765e3485b696b4b639b03

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Thomas Gubler 2013-12-23 16:58:27 +01:00
parent 546964332d
commit 94b68aa1cc
1 changed files with 9 additions and 1 deletions
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10
src/modules/mavlink/waypoints.c
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@ -133,6 +133,15 @@ int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *missio
mavlink_mission_item->frame = MAV_FRAME_GLOBAL_RELATIVE_ALT;
}
switch (mission_item->nav_cmd) {
case NAV_CMD_TAKEOFF:
mavlink_mission_item->param1 = mission_item->pitch_min;
break;
default:
mavlink_mission_item->param1 = mission_item->radius;
break;
}
mavlink_mission_item->x = (float)mission_item->lat;
mavlink_mission_item->y = (float)mission_item->lon;
mavlink_mission_item->z = mission_item->altitude;
@ -140,7 +149,6 @@ int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *missio
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->command = mission_item->nav_cmd;
mavlink_mission_item->param1 = mission_item->radius;
mavlink_mission_item->param2 = mission_item->time_inside * 1e3f; /* from seconds to milliseconds */
mavlink_mission_item->autocontinue = mission_item->autocontinue;
mavlink_mission_item->seq = mission_item->index;