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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 | |
| 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')
| -rw-r--r-- | src/modules/mavlink/waypoints.c | 4 | ||||
| -rw-r--r-- | src/modules/uORB/topics/mission.h | 19 |
2 files changed, 13 insertions, 10 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; diff --git a/src/modules/uORB/topics/mission.h b/src/modules/uORB/topics/mission.h index a39a1e4d7..441efe458 100644 --- a/src/modules/uORB/topics/mission.h +++ b/src/modules/uORB/topics/mission.h @@ -46,14 +46,17 @@ #include <stdbool.h> #include "../uORB.h" +/* compatible to mavlink MAV_CMD */ enum NAV_CMD { - NAV_CMD_WAYPOINT = 0, - NAV_CMD_LOITER_TURN_COUNT, - NAV_CMD_LOITER_TIME_LIMIT, - NAV_CMD_LOITER_UNLIMITED, - NAV_CMD_RETURN_TO_LAUNCH, - NAV_CMD_LAND, - NAV_CMD_TAKEOFF + NAV_CMD_WAYPOINT=16, + NAV_CMD_LOITER_UNLIMITED=17, + NAV_CMD_LOITER_TURN_COUNT=18, + NAV_CMD_LOITER_TIME_LIMIT=19, + NAV_CMD_RETURN_TO_LAUNCH=20, + NAV_CMD_LAND=21, + NAV_CMD_TAKEOFF=22, + NAV_CMD_ROI=80, + NAV_CMD_PATHPLANNING=81 }; /** @@ -76,7 +79,7 @@ struct mission_item_s float yaw; /**< in radians NED -PI..+PI */ float loiter_radius; /**< loiter radius in meters, 0 for a VTOL to hover */ int8_t loiter_direction; /**< 1: positive / clockwise, -1, negative. */ - enum NAV_CMD nav_cmd; /**< true if loitering is enabled */ + enum NAV_CMD nav_cmd; /**< navigation command */ 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 seconds */ bool autocontinue; /**< true if next waypoint should follow after this one */ |