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| author | Julian Oes <julian@oes.ch> | 2013-11-20 22:34:15 +0100 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-11-20 22:34:15 +0100 |
| commit | b3c657450056eab9ec1549b80a4cf4c002d1503b (patch) | |
| tree | 007b74255fe0d12492d3701b93061068a84b3956 /src/modules | |
| parent | f351afe3f69c81e4f1ee43f24531728e4b518cea (diff) | |
| download | px4-firmware-b3c657450056eab9ec1549b80a4cf4c002d1503b.tar.gz px4-firmware-b3c657450056eab9ec1549b80a4cf4c002d1503b.tar.bz2 px4-firmware-b3c657450056eab9ec1549b80a4cf4c002d1503b.zip | |
Waypoints: Get time inside WP radius right
Diffstat (limited to 'src/modules')
| -rw-r--r-- | src/modules/mavlink/waypoints.c | 4 | ||||
| -rw-r--r-- | src/modules/uORB/topics/mission.h | 2 |
2 files changed, 3 insertions, 3 deletions
diff --git a/src/modules/mavlink/waypoints.c b/src/modules/mavlink/waypoints.c index 5fdbd57e1..964adee1d 100644 --- a/src/modules/mavlink/waypoints.c +++ b/src/modules/mavlink/waypoints.c @@ -76,7 +76,7 @@ void map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavl 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->radius = mavlink_mission_item->param1; - mission_item->time_inside = mavlink_mission_item->param2; + mission_item->time_inside = mavlink_mission_item->param2 / 1e3f; /* from milliseconds to seconds */ } void map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, const uint16_t seq, mavlink_mission_item_t *mavlink_mission_item) @@ -89,7 +89,7 @@ void map_mission_item_to_mavlink_mission_item(const struct mission_item_s *missi 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->param1 = mission_item->radius; - mavlink_mission_item->param2 = mission_item->time_inside; + mavlink_mission_item->param2 = mission_item->time_inside * 1e3f; /* from seconds to milliseconds */ mavlink_mission_item->seq = seq; } diff --git a/src/modules/uORB/topics/mission.h b/src/modules/uORB/topics/mission.h index ec7835279..4c251269b 100644 --- a/src/modules/uORB/topics/mission.h +++ b/src/modules/uORB/topics/mission.h @@ -78,7 +78,7 @@ struct mission_item_s int8_t loiter_direction; /**< 1: positive / clockwise, -1, negative. */ enum NAV_CMD nav_cmd; /**< true if loitering is enabled */ float radius; /**< radius in which the mission is accepted as reached in meters */ - float time_inside; /**< time that the MAV should stay inside the radius before advancing in milliseconds */ + float time_inside; /**< time that the MAV should stay inside the radius before advancing in seconds */ }; struct mission_s |