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| author | Julian Oes <julian@oes.ch> | 2014-04-09 18:39:23 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2014-04-18 22:05:47 +0200 |
| commit | 665a2d6a92827e27213d596df7383061636c5dde (patch) | |
| tree | 22589b84d413bbbc58620746e2025c38db704f1f /src/modules | |
| parent | b96669a5314198b88e406fc02940ed2ced291f2b (diff) | |
| download | px4-firmware-665a2d6a92827e27213d596df7383061636c5dde.tar.gz px4-firmware-665a2d6a92827e27213d596df7383061636c5dde.tar.bz2 px4-firmware-665a2d6a92827e27213d596df7383061636c5dde.zip | |
mavlink and mission topic: added reading in DO_JUMP mission items
Diffstat (limited to 'src/modules')
| -rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 10 | ||||
| -rw-r--r-- | src/modules/uORB/topics/mission.h | 4 |
2 files changed, 12 insertions, 2 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 1ed3f4001..2dba567b0 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -863,7 +863,10 @@ int Mavlink::map_mavlink_mission_item_to_mission_item(const mavlink_mission_item case MAV_CMD_NAV_TAKEOFF: mission_item->pitch_min = mavlink_mission_item->param2; break; - + case MAV_CMD_DO_JUMP: + mission_item->do_jump_mission_index = mavlink_mission_item->param1; + /* TODO: also save param2 (repeat count) */ + break; default: mission_item->acceptance_radius = mavlink_mission_item->param2; break; @@ -896,6 +899,11 @@ int Mavlink::map_mission_item_to_mavlink_mission_item(const struct mission_item_ mavlink_mission_item->param2 = mission_item->pitch_min; break; + case NAV_CMD_DO_JUMP: + mavlink_mission_item->param1 = mission_item->do_jump_mission_index; + /* TODO: also save param2 (repeat count) */ + break; + default: mavlink_mission_item->param2 = mission_item->acceptance_radius; break; diff --git a/src/modules/uORB/topics/mission.h b/src/modules/uORB/topics/mission.h index 9594c4c6a..1ccdb7181 100644 --- a/src/modules/uORB/topics/mission.h +++ b/src/modules/uORB/topics/mission.h @@ -58,7 +58,8 @@ enum NAV_CMD { NAV_CMD_LAND=21, NAV_CMD_TAKEOFF=22, NAV_CMD_ROI=80, - NAV_CMD_PATHPLANNING=81 + NAV_CMD_PATHPLANNING=81, + NAV_CMD_DO_JUMP=177 }; enum ORIGIN { @@ -91,6 +92,7 @@ struct mission_item_s { float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */ bool autocontinue; /**< true if next waypoint should follow after this one */ enum ORIGIN origin; /**< where the waypoint has been generated */ + int do_jump_mission_index; /**< the mission index that we want to jump to */ }; struct mission_s |