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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-06-01 14:04:16 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-06-01 14:04:16 +0200 |
| commit | 794b853a3b94b5520b734933f18823885259427d (patch) | |
| tree | 859f3c6c00b1e31fe1263939c8714848354e3f44 /src | |
| parent | 7b012bfd0b2c32d6e9297eeae9acda8d16e0327f (diff) | |
| download | px4-firmware-794b853a3b94b5520b734933f18823885259427d.tar.gz px4-firmware-794b853a3b94b5520b734933f18823885259427d.tar.bz2 px4-firmware-794b853a3b94b5520b734933f18823885259427d.zip | |
mavlink: for takeoff mission items don't set the time inside field. Correctly set pitch min when converting from mission item to mavlink mission item
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 540b88657..304a02c29 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -896,6 +896,7 @@ int Mavlink::map_mavlink_mission_item_to_mission_item(const mavlink_mission_item default: mission_item->acceptance_radius = mavlink_mission_item->param2; + mission_item->time_inside = mavlink_mission_item->param1; break; } @@ -904,7 +905,6 @@ int Mavlink::map_mavlink_mission_item_to_mission_item(const mavlink_mission_item 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)mavlink_mission_item->command; - mission_item->time_inside = mavlink_mission_item->param1; mission_item->autocontinue = mavlink_mission_item->autocontinue; // mission_item->index = mavlink_mission_item->seq; mission_item->origin = ORIGIN_MAVLINK; @@ -923,11 +923,12 @@ int Mavlink::map_mission_item_to_mavlink_mission_item(const struct mission_item_ switch (mission_item->nav_cmd) { case NAV_CMD_TAKEOFF: - mavlink_mission_item->param2 = mission_item->pitch_min; + mavlink_mission_item->param1 = mission_item->pitch_min; break; default: mavlink_mission_item->param2 = mission_item->acceptance_radius; + mavlink_mission_item->param1 = mission_item->time_inside; break; } @@ -938,7 +939,6 @@ int Mavlink::map_mission_item_to_mavlink_mission_item(const struct mission_item_ 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 = mission_item->nav_cmd; - mavlink_mission_item->param1 = mission_item->time_inside; mavlink_mission_item->autocontinue = mission_item->autocontinue; // mavlink_mission_item->seq = mission_item->index; |