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Implementation of 183 mission intem

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This commit is contained in:
fpvaspassion
2015-08-18 23:17:07 +02:00
committed by Lorenz Meier
parent 384047787a
commit e6ffa16125
5 changed files with 102 additions and 2 deletions
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src/modules/navigator/mission_block.cpp
+7
View File
@@ -71,6 +71,13 @@ MissionBlock::~MissionBlock()
bool
MissionBlock::is_mission_item_reached()
{
if (_mission_item.nav_cmd == NAV_CMD_DO_SET_SERVO) {
//up_pwm_servo_arm(true);
//up_pwm_servo_set(_mission_item.actuator_num-1, _mission_item.actuator_value);
warnx("Set servo cmd executed");
return true;
}
if (_mission_item.nav_cmd == NAV_CMD_IDLE) {
return false;
}
src/modules/navigator/mission_feasibility_checker.cpp
+2 -1
View File
@@ -209,7 +209,8 @@ bool MissionFeasibilityChecker::checkMissionItemValidity(dm_item_t dm_current, s
missionitem.nav_cmd != NAV_CMD_TAKEOFF &&
missionitem.nav_cmd != NAV_CMD_ROI &&
missionitem.nav_cmd != NAV_CMD_PATHPLANNING &&
missionitem.nav_cmd != NAV_CMD_DO_JUMP) {
missionitem.nav_cmd != NAV_CMD_DO_JUMP &&
missionitem.nav_cmd != NAV_CMD_DO_SET_SERVO) {
mavlink_log_critical(_mavlink_fd, "Rejecting mission item %i: unsupported action.", (int)(i+1));
return false;