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Waypoints: Get time inside WP radius right

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Julian Oes
2013-11-20 22:34:15 +01:00
parent f351afe3f6
commit b3c6574500
2 changed files with 3 additions and 3 deletions
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src/modules/mavlink/waypoints.c
+2 -2
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@@ -76,7 +76,7 @@ void map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavl
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_WAYPOINT; // TODO correct
mission_item->radius = mavlink_mission_item->param1;
mission_item->time_inside = mavlink_mission_item->param2;
mission_item->time_inside = mavlink_mission_item->param2 / 1e3f; /* from milliseconds to seconds */
}
void map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, const uint16_t seq, mavlink_mission_item_t *mavlink_mission_item)
@@ -89,7 +89,7 @@ void map_mission_item_to_mavlink_mission_item(const struct mission_item_s *missi
mavlink_mission_item->param3 = mission_item->loiter_radius*(float)mission_item->loiter_direction;
mavlink_mission_item->command = MAV_CMD_NAV_WAYPOINT; // TODO add
mavlink_mission_item->param1 = mission_item->radius;
mavlink_mission_item->param2 = mission_item->time_inside;
mavlink_mission_item->param2 = mission_item->time_inside * 1e3f; /* from seconds to milliseconds */
mavlink_mission_item->seq = seq;
}