diff options
Diffstat (limited to 'src/modules/navigator/mission_block.cpp')
| -rw-r--r-- | src/modules/navigator/mission_block.cpp | 13 |
1 files changed, 7 insertions, 6 deletions
diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index 723caec7c..52ccebac9 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -134,6 +134,7 @@ MissionBlock::is_mission_item_reached() } } + /* Check if the waypoint and the requested yaw setpoint. */ if (_waypoint_position_reached && !_waypoint_yaw_reached) { /* TODO: removed takeoff, why? */ @@ -151,7 +152,7 @@ MissionBlock::is_mission_item_reached() } } - /* check if the current waypoint was reached */ + /* Once the waypoint and yaw setpoint have been reached we can start the loiter time countdown */ if (_waypoint_position_reached && _waypoint_yaw_reached) { if (_time_first_inside_orbit == 0) { @@ -193,25 +194,25 @@ MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *ite switch (item->nav_cmd) { case NAV_CMD_IDLE: - sp->type = SETPOINT_TYPE_IDLE; + sp->type = position_setpoint_s::SETPOINT_TYPE_IDLE; break; case NAV_CMD_TAKEOFF: - sp->type = SETPOINT_TYPE_TAKEOFF; + sp->type = position_setpoint_s::SETPOINT_TYPE_TAKEOFF; break; case NAV_CMD_LAND: - sp->type = SETPOINT_TYPE_LAND; + sp->type = position_setpoint_s::SETPOINT_TYPE_LAND; break; case NAV_CMD_LOITER_TIME_LIMIT: case NAV_CMD_LOITER_TURN_COUNT: case NAV_CMD_LOITER_UNLIMITED: - sp->type = SETPOINT_TYPE_LOITER; + sp->type = position_setpoint_s::SETPOINT_TYPE_LOITER; break; default: - sp->type = SETPOINT_TYPE_POSITION; + sp->type = position_setpoint_s::SETPOINT_TYPE_POSITION; break; } } |