diff options
| author | Anton Babushkin <anton.babushkin@me.com> | 2014-06-25 17:13:47 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-06-25 17:31:12 +0200 |
| commit | 9d3d5a30af0781b975d17c5d73796f593c78b6e4 (patch) | |
| tree | 9f2a1ba7f627761f8aee9e6e45899914c7cbd60c /src/modules/navigator/mission_block.cpp | |
| parent | e0c78e51e3a5768014c73bed5cd087830d602227 (diff) | |
| download | px4-firmware-9d3d5a30af0781b975d17c5d73796f593c78b6e4.tar.gz px4-firmware-9d3d5a30af0781b975d17c5d73796f593c78b6e4.tar.bz2 px4-firmware-9d3d5a30af0781b975d17c5d73796f593c78b6e4.zip | |
navigator: move set_previous_pos_sp to MissionBlock class
Diffstat (limited to 'src/modules/navigator/mission_block.cpp')
| -rw-r--r-- | src/modules/navigator/mission_block.cpp | 9 |
1 files changed, 9 insertions, 0 deletions
diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index 08576750c..a8eec92ca 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -194,6 +194,15 @@ MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *ite } } +void +MissionBlock::set_previous_pos_setpoint(struct position_setpoint_triplet_s *pos_sp_triplet) +{ + /* reuse current setpoint as previous setpoint */ + if (pos_sp_triplet->current.valid) { + memcpy(&pos_sp_triplet->previous, &pos_sp_triplet->current, sizeof(struct position_setpoint_s)); + } +} + bool MissionBlock::set_loiter_item(bool reuse_current_pos_sp, struct position_setpoint_triplet_s *pos_sp_triplet) { |