diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_main.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 13 |
1 files changed, 12 insertions, 1 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index be1fc50a6..5c6ef68ee 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -899,7 +899,10 @@ 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->param1; break; - + case MAV_CMD_DO_JUMP: + mission_item->do_jump_mission_index = mavlink_mission_item->param1; + mission_item->do_jump_repeat_count = mavlink_mission_item->param2; + break; default: mission_item->acceptance_radius = mavlink_mission_item->param2; mission_item->time_inside = mavlink_mission_item->param1; @@ -915,6 +918,9 @@ int Mavlink::map_mavlink_mission_item_to_mission_item(const mavlink_mission_item // mission_item->index = mavlink_mission_item->seq; mission_item->origin = ORIGIN_MAVLINK; + /* reset DO_JUMP count */ + mission_item->do_jump_current_count = 0; + return OK; } @@ -932,6 +938,11 @@ int Mavlink::map_mission_item_to_mavlink_mission_item(const struct mission_item_ mavlink_mission_item->param1 = mission_item->pitch_min; break; + case NAV_CMD_DO_JUMP: + mavlink_mission_item->param1 = mission_item->do_jump_mission_index; + mavlink_mission_item->param2 = mission_item->do_jump_repeat_count; + break; + default: mavlink_mission_item->param2 = mission_item->acceptance_radius; mavlink_mission_item->param1 = mission_item->time_inside; |