From 31f0edd6636e14d64fd9c18dcd62bfa7befac374 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Wed, 20 Nov 2013 22:36:53 +0100 Subject: Mission topic: the autocontinue option was missing --- src/modules/mavlink/waypoints.c | 2 ++ src/modules/uORB/topics/mission.h | 1 + 2 files changed, 3 insertions(+) (limited to 'src/modules') diff --git a/src/modules/mavlink/waypoints.c b/src/modules/mavlink/waypoints.c index 964adee1d..a4e31bda6 100644 --- a/src/modules/mavlink/waypoints.c +++ b/src/modules/mavlink/waypoints.c @@ -77,6 +77,7 @@ void map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavl mission_item->nav_cmd = NAV_CMD_WAYPOINT; // TODO correct 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; } void map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, const uint16_t seq, mavlink_mission_item_t *mavlink_mission_item) @@ -90,6 +91,7 @@ void map_mission_item_to_mavlink_mission_item(const struct mission_item_s *missi mavlink_mission_item->command = MAV_CMD_NAV_WAYPOINT; // TODO add mavlink_mission_item->param1 = mission_item->radius; mavlink_mission_item->param2 = mission_item->time_inside * 1e3f; /* from seconds to milliseconds */ + mavlink_mission_item->autocontinue = mission_item->autocontinue; mavlink_mission_item->seq = seq; } diff --git a/src/modules/uORB/topics/mission.h b/src/modules/uORB/topics/mission.h index 4c251269b..f97de94bc 100644 --- a/src/modules/uORB/topics/mission.h +++ b/src/modules/uORB/topics/mission.h @@ -79,6 +79,7 @@ struct mission_item_s enum NAV_CMD nav_cmd; /**< true if loitering is enabled */ 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 */ }; struct mission_s -- cgit v1.2.3