diff options
Diffstat (limited to 'src/modules')
| -rw-r--r-- | src/modules/mavlink/waypoints.c | 11 | ||||
| -rw-r--r-- | src/modules/uORB/topics/mission.h | 1 |
2 files changed, 11 insertions, 1 deletions
diff --git a/src/modules/mavlink/waypoints.c b/src/modules/mavlink/waypoints.c index 52a580d5b..b72086a7f 100644 --- a/src/modules/mavlink/waypoints.c +++ b/src/modules/mavlink/waypoints.c @@ -103,11 +103,20 @@ int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavli return MAV_MISSION_ERROR; } + switch (mavlink_mission_item->command) { + case MAV_CMD_NAV_TAKEOFF: + mission_item->pitch_min = mavlink_mission_item->param1; + break; + default: + mission_item->radius = mavlink_mission_item->param1; + break; + } + mission_item->yaw = _wrap_pi(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 = 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; mission_item->index = mavlink_mission_item->seq; diff --git a/src/modules/uORB/topics/mission.h b/src/modules/uORB/topics/mission.h index 370242007..9697835cf 100644 --- a/src/modules/uORB/topics/mission.h +++ b/src/modules/uORB/topics/mission.h @@ -89,6 +89,7 @@ struct mission_item_s 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 */ + float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */ bool autocontinue; /**< true if next waypoint should follow after this one */ int index; /**< index matching the mavlink waypoint */ enum ORIGIN origin; /**< where the waypoint has been generated */ |