From ed8cb1c5a7458e774556b98ed624b36ea323008f Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 6 Aug 2017 16:43:11 +0200 Subject: [PATCH] MAVLink: Add support for new gate command This enables the vehicle to be able to wait with executing the next item until a position has been passed. --- src/modules/mavlink/mavlink_mission.cpp | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp index ec7e8dcec9..1c339fbabe 100644 --- a/src/modules/mavlink/mavlink_mission.cpp +++ b/src/modules/mavlink/mavlink_mission.cpp @@ -1386,6 +1386,10 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t * mission_item->yaw = wrap_2pi(math::radians(mavlink_mission_item->param4)); break; + case MAV_CMD_CONDITION_GATE: + mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command; + break; + case MAV_CMD_NAV_FENCE_RETURN_POINT: mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command; break; @@ -1469,6 +1473,8 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t * case MAV_CMD_NAV_RETURN_TO_LAUNCH: case MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET: case MAV_CMD_DO_SET_ROI_NONE: + case MAV_CMD_CONDITION_DELAY: + case MAV_CMD_CONDITION_DISTANCE: mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command; break;