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Address review comment about MAV_CMD_NAV_VTOL_LAND

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Store all command parameters that are defined in mavlink

This makes checksum calculation possible on both sides.
This commit is contained in:
Matej Frančeškin
2021-11-12 15:54:28 +01:00
parent e6689e6a09
commit ee51e716d6
1 changed files with 7 additions and 1 deletions
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src/modules/mavlink/mavlink_mission.cpp
+7 -1
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@@ -1389,8 +1389,8 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
case MAV_CMD_NAV_TAKEOFF:
mission_item->nav_cmd = NAV_CMD_TAKEOFF;
mission_item->params[0] = mavlink_mission_item->param1; // Pitch
mission_item->yaw = wrap_2pi(math::radians(mavlink_mission_item->param4));
break;
case MAV_CMD_NAV_LOITER_TO_ALT:
@@ -1424,8 +1424,14 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
break;
case MAV_CMD_NAV_VTOL_TAKEOFF:
mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command;
mission_item->yaw = wrap_2pi(math::radians(mavlink_mission_item->param4));
break;
case MAV_CMD_NAV_VTOL_LAND:
mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command;
mission_item->params[0] = mavlink_mission_item->param1; // Land options
mission_item->params[2] = mavlink_mission_item->param3; // Approach altitude
mission_item->yaw = wrap_2pi(math::radians(mavlink_mission_item->param4));
break;