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Merge branch 'waypoint_loiter' of github.com:PX4/Firmware into fixedwing_l1

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Lorenz Meier
2013-09-07 11:52:22 +02:00
parent 5111249eb8 127832b8fd
commit f721c6f7e0
2 changed files with 7 additions and 5 deletions
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src/modules/mavlink/missionlib.c
+3 -3
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@@ -167,9 +167,9 @@ bool set_special_fields(float param1, float param2, float param3, float param4,
sp->loiter_direction = (param3 >= 0) ? 1 : -1; sp->loiter_direction = (param3 >= 0) ? 1 : -1;
sp->param1 = param1; sp->param1 = param1;
sp->param1 = param2; sp->param2 = param2;
sp->param1 = param3; sp->param3 = param3;
sp->param1 = param4; sp->param4 = param4;
} }
/** /**
src/modules/mavlink/waypoints.c
+4 -2
View File
@@ -417,6 +417,7 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_
} }
if (time_elapsed) { if (time_elapsed) {
if (cur_wp->autocontinue) { if (cur_wp->autocontinue) {
cur_wp->current = 0; cur_wp->current = 0;
@@ -425,9 +426,10 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_
if (wpm->current_active_wp_id == wpm->size - 1 && wpm->size > 1) { if (wpm->current_active_wp_id == wpm->size - 1 && wpm->size > 1) {
/* the last waypoint was reached, if auto continue is /* the last waypoint was reached, if auto continue is
* activated restart the waypoint list from the beginning * activated keep the system loitering there.
*/ */
wpm->current_active_wp_id = 0; cur_wp->command = MAV_CMD_NAV_LOITER_UNLIM;
cur_wp->param3 = 15.0f; // XXX magic number 15 m loiter radius
} else { } else {
if ((uint16_t)(wpm->current_active_wp_id + 1) < wpm->size) if ((uint16_t)(wpm->current_active_wp_id + 1) < wpm->size)