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| author | Thomas Gubler <thomasgubler@gmail.com> | 2013-12-23 13:38:13 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2013-12-23 13:40:56 +0100 |
| commit | b7652986d9cc0fe3edc765e3485b696b4b639b03 (patch) | |
| tree | 857df4ef585453196f9ea18e6e998120bb98f3a9 /src/modules/mavlink | |
| parent | fcdb77d8ef8e0278eb9f8fc1cdf7c39d000c66c2 (diff) | |
| download | px4-firmware-b7652986d9cc0fe3edc765e3485b696b4b639b03.tar.gz px4-firmware-b7652986d9cc0fe3edc765e3485b696b4b639b03.tar.bz2 px4-firmware-b7652986d9cc0fe3edc765e3485b696b4b639b03.zip | |
add minimal pitch field to mission item
Diffstat (limited to 'src/modules/mavlink')
| -rw-r--r-- | src/modules/mavlink/waypoints.c | 11 |
1 files changed, 10 insertions, 1 deletions
diff --git a/src/modules/mavlink/waypoints.c b/src/modules/mavlink/waypoints.c index 52a580d5b..b72086a7f 100644 --- a/src/modules/mavlink/waypoints.c +++ b/src/modules/mavlink/waypoints.c @@ -103,11 +103,20 @@ int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavli return MAV_MISSION_ERROR; } + switch (mavlink_mission_item->command) { + case MAV_CMD_NAV_TAKEOFF: + mission_item->pitch_min = mavlink_mission_item->param1; + break; + default: + mission_item->radius = mavlink_mission_item->param1; + break; + } + mission_item->yaw = _wrap_pi(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 = 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; mission_item->index = mavlink_mission_item->seq; |