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navigator / mission item: Compress fields into bitfield

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Lorenz Meier
2016-10-23 16:26:03 +02:00
committed by Lorenz Meier
parent 5899ce715d
commit 9821499113
8 changed files with 21 additions and 38 deletions
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src/modules/mavlink/mavlink_mission.cpp
+6 -9
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@@ -912,16 +912,14 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
case MAV_CMD_NAV_LOITER_UNLIM:
mission_item->nav_cmd = NAV_CMD_LOITER_UNLIMITED;
mission_item->loiter_radius = fabsf(mavlink_mission_item->param3);
mission_item->loiter_direction = (mavlink_mission_item->param3 > 0) ? 1 : -1; /* 1 if positive CW, -1 if negative CCW */
mission_item->loiter_radius = mavlink_mission_item->param3;
mission_item->yaw = _wrap_pi(mavlink_mission_item->param4 * M_DEG_TO_RAD_F);
break;
case MAV_CMD_NAV_LOITER_TIME:
mission_item->nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
mission_item->time_inside = mavlink_mission_item->param1;
mission_item->loiter_radius = fabsf(mavlink_mission_item->param3);
mission_item->loiter_direction = (mavlink_mission_item->param3 > 0) ? 1 : -1; /* 1 if positive CW, -1 if negative CCW */
mission_item->loiter_radius = mavlink_mission_item->param3;
mission_item->loiter_exit_xtrack = (mavlink_mission_item->param4 > 0) ? true : false;
break;
@@ -940,8 +938,7 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
case MAV_CMD_NAV_LOITER_TO_ALT:
mission_item->nav_cmd = NAV_CMD_LOITER_TO_ALT;
mission_item->force_heading = (mavlink_mission_item->param1 > 0) ? true : false;
mission_item->loiter_radius = fabsf(mavlink_mission_item->param2);
mission_item->loiter_direction = (mavlink_mission_item->param2 > 0) ? 1 : -1; /* 1 if positive CW, -1 if negative CCW */
mission_item->loiter_radius = mavlink_mission_item->param2;
mission_item->loiter_exit_xtrack = (mavlink_mission_item->param4 > 0) ? true : false;
break;
@@ -1097,13 +1094,13 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *
break;
case NAV_CMD_LOITER_UNLIMITED:
mavlink_mission_item->param3 = mission_item->loiter_radius * (float)mission_item->loiter_direction;
mavlink_mission_item->param3 = mission_item->loiter_radius;
mavlink_mission_item->param4 = mission_item->yaw * M_RAD_TO_DEG_F;
break;
case NAV_CMD_LOITER_TIME_LIMIT:
mavlink_mission_item->param1 = mission_item->time_inside;
mavlink_mission_item->param3 = mission_item->loiter_radius * (float)mission_item->loiter_direction;
mavlink_mission_item->param3 = mission_item->loiter_radius;
mavlink_mission_item->param4 = mission_item->loiter_exit_xtrack;
break;
@@ -1119,7 +1116,7 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *
case NAV_CMD_LOITER_TO_ALT:
mavlink_mission_item->param1 = mission_item->force_heading;
mavlink_mission_item->param2 = mission_item->loiter_radius * (float)mission_item->loiter_direction;
mavlink_mission_item->param2 = mission_item->loiter_radius;
mavlink_mission_item->param4 = mission_item->loiter_exit_xtrack;
break;