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Added support for dynamic turn radii

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Lorenz Meier
2013-10-08 09:15:40 +02:00
parent 5bc7d7c00f
commit d59cdf6fcc
7 changed files with 86 additions and 26 deletions
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src/modules/mavlink/mavlink.c
+4 -4
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@@ -690,25 +690,25 @@ int mavlink_thread_main(int argc, char *argv[])
lowspeed_counter++;
mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos);
mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos, &nav_cap);
/* sleep quarter the time */
usleep(25000);
/* check if waypoint has been reached against the last positions */
mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos);
mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos, &nav_cap);
/* sleep quarter the time */
usleep(25000);
/* send parameters at 20 Hz (if queued for sending) */
mavlink_pm_queued_send();
mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos);
mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos, &nav_cap);
/* sleep quarter the time */
usleep(25000);
mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos);
mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos, &nav_cap);
if (baudrate > 57600) {
mavlink_pm_queued_send();