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implement MAV_CMD_DO_LAND_START

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This commit is contained in:
Daniel Agar
2016-11-19 15:48:10 +01:00
committed by Lorenz Meier
parent 6cdd188158
commit c17c8884d1
9 changed files with 61 additions and 1 deletions
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src/modules/navigator/mission_block.cpp
+7
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@@ -103,6 +103,7 @@ MissionBlock::is_mission_item_reached()
case NAV_CMD_LOITER_UNLIMITED:
return false;
case NAV_CMD_DO_LAND_START:
case NAV_CMD_DO_DIGICAM_CONTROL:
case NAV_CMD_IMAGE_START_CAPTURE:
case NAV_CMD_IMAGE_STOP_CAPTURE:
@@ -432,6 +433,11 @@ MissionBlock::issue_command(const struct mission_item_s *item)
return;
}
// NAV_CMD_DO_LAND_START is only a marker
if (item->nav_cmd == NAV_CMD_DO_LAND_START) {
return;
}
if (item->nav_cmd == NAV_CMD_DO_SET_SERVO) {
PX4_INFO("do_set_servo command");
// XXX: we should issue a vehicle command and handle this somewhere else
@@ -470,6 +476,7 @@ MissionBlock::item_contains_position(const struct mission_item_s *item)
if (item->nav_cmd == NAV_CMD_DO_JUMP ||
item->nav_cmd == NAV_CMD_DO_CHANGE_SPEED ||
item->nav_cmd == NAV_CMD_DO_SET_SERVO ||
item->nav_cmd == NAV_CMD_DO_LAND_START ||
item->nav_cmd == NAV_CMD_DO_DIGICAM_CONTROL ||
item->nav_cmd == NAV_CMD_IMAGE_START_CAPTURE ||
item->nav_cmd == NAV_CMD_IMAGE_STOP_CAPTURE ||