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add minimal pitch field to mission item

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Thomas Gubler
2013-12-23 13:40:56 +01:00
parent fcdb77d8ef
commit b7652986d9
2 changed files with 11 additions and 1 deletions
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src/modules/mavlink/waypoints.c
+10 -1
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@@ -103,11 +103,20 @@ int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavli
return MAV_MISSION_ERROR;
}
switch (mavlink_mission_item->command) {
case MAV_CMD_NAV_TAKEOFF:
mission_item->pitch_min = mavlink_mission_item->param1;
break;
default:
mission_item->radius = mavlink_mission_item->param1;
break;
}
mission_item->yaw = _wrap_pi(mavlink_mission_item->param4*M_DEG_TO_RAD_F);
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->nav_cmd = mavlink_mission_item->command;
mission_item->radius = mavlink_mission_item->param1;
mission_item->time_inside = mavlink_mission_item->param2 / 1e3f; /* from milliseconds to seconds */
mission_item->autocontinue = mavlink_mission_item->autocontinue;
mission_item->index = mavlink_mission_item->seq;