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| author | Julian Oes <julian@oes.ch> | 2013-11-22 21:21:30 +0100 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-11-22 21:21:30 +0100 |
| commit | 01df715f946afc1cec79d33cba970ad15c62ec73 (patch) | |
| tree | ef42c322fb2bce4a1bdc0a84aa613d947c8d53c5 /src/modules/mavlink | |
| parent | 1da7599541d33b8ffb0c8764bb505f1d5e6018b9 (diff) | |
| download | px4-firmware-01df715f946afc1cec79d33cba970ad15c62ec73.tar.gz px4-firmware-01df715f946afc1cec79d33cba970ad15c62ec73.tar.bz2 px4-firmware-01df715f946afc1cec79d33cba970ad15c62ec73.zip | |
Mission topic: make nav_cmd compatible to the mavlink command
Diffstat (limited to 'src/modules/mavlink')
| -rw-r--r-- | src/modules/mavlink/waypoints.c | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/modules/mavlink/waypoints.c b/src/modules/mavlink/waypoints.c index a9ee26eac..8e4bbce36 100644 --- a/src/modules/mavlink/waypoints.c +++ b/src/modules/mavlink/waypoints.c @@ -78,7 +78,7 @@ void map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavl mission_item->yaw = mavlink_mission_item->param4*M_DEG_TO_RAD_F; mission_item->loiter_radius = fabsf(mavlink_mission_item->param3); mission_item->loiter_direction = (mavlink_mission_item->param3 > 0) ? 1 : -1; /* 1 if positive CW, -1 if negative CCW */ - mission_item->nav_cmd = NAV_CMD_WAYPOINT; // TODO correct + mission_item->nav_cmd = mavlink_mission_item->command; mission_item->radius = mavlink_mission_item->param1; mission_item->time_inside = mavlink_mission_item->param2 / 1e3f; /* from milliseconds to seconds */ mission_item->autocontinue = mavlink_mission_item->autocontinue; @@ -93,7 +93,7 @@ void map_mission_item_to_mavlink_mission_item(const struct mission_item_s *missi mavlink_mission_item->z = mission_item->altitude; mavlink_mission_item->param4 = mission_item->yaw*M_RAD_TO_DEG_F; mavlink_mission_item->param3 = mission_item->loiter_radius*(float)mission_item->loiter_direction; - mavlink_mission_item->command = MAV_CMD_NAV_WAYPOINT; // TODO add + mavlink_mission_item->command = mission_item->nav_cmd; mavlink_mission_item->param1 = mission_item->radius; mavlink_mission_item->param2 = mission_item->time_inside * 1e3f; /* from seconds to milliseconds */ mavlink_mission_item->autocontinue = mission_item->autocontinue; |