From 7892a72f90be76fc948a0fbefb2357d29bbdffcc Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Fri, 22 Nov 2013 14:03:09 +0100 Subject: Navigator, waypoints: save index in mission item and use this in navigator --- src/modules/uORB/topics/mission.h | 1 + src/modules/uORB/topics/mission_item_triplet.h | 4 ++++ 2 files changed, 5 insertions(+) (limited to 'src/modules/uORB') diff --git a/src/modules/uORB/topics/mission.h b/src/modules/uORB/topics/mission.h index f97de94bc..a39a1e4d7 100644 --- a/src/modules/uORB/topics/mission.h +++ b/src/modules/uORB/topics/mission.h @@ -80,6 +80,7 @@ struct mission_item_s 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 */ + int index; /**< index matching the mavlink waypoint */ }; struct mission_s diff --git a/src/modules/uORB/topics/mission_item_triplet.h b/src/modules/uORB/topics/mission_item_triplet.h index 48553b0ac..b35eae607 100644 --- a/src/modules/uORB/topics/mission_item_triplet.h +++ b/src/modules/uORB/topics/mission_item_triplet.h @@ -67,6 +67,10 @@ struct mission_item_triplet_s struct mission_item_s previous; struct mission_item_s current; struct mission_item_s next; + + int previous_index; + int current_index; + int next_index; }; /** -- cgit v1.2.3