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| author | Julian Oes <julian@oes.ch> | 2013-11-27 17:00:27 +0100 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-11-27 17:00:27 +0100 |
| commit | de36ccfff5c9b1311f2b5457e374be048c0989ba (patch) | |
| tree | 85f68ee3cca81df5e32892fa504e65ca523fec2b | |
| parent | 81023fe5aafc33477a9e16d044d2b5a1420ade76 (diff) | |
| download | px4-firmware-de36ccfff5c9b1311f2b5457e374be048c0989ba.tar.gz px4-firmware-de36ccfff5c9b1311f2b5457e374be048c0989ba.tar.bz2 px4-firmware-de36ccfff5c9b1311f2b5457e374be048c0989ba.zip | |
Navigator: report the current waypoint back
| -rw-r--r-- | src/modules/mavlink/waypoints.c | 7 |
1 files changed, 7 insertions, 0 deletions
diff --git a/src/modules/mavlink/waypoints.c b/src/modules/mavlink/waypoints.c index 8991f3a59..809900d7d 100644 --- a/src/modules/mavlink/waypoints.c +++ b/src/modules/mavlink/waypoints.c @@ -704,6 +704,13 @@ void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehi mavlink_mission_item_t wp; map_mission_item_to_mavlink_mission_item(&mission.items[wpr.seq], &wp); + + if (mission.current_index == wpr.seq) { + wp.current = true; + } else { + wp.current = false; + } + mavlink_wpm_send_waypoint(wpm->current_partner_sysid, wpm->current_partner_compid, &wp); } else { |