mirror of https://github.com/ArduPilot/ardupilot
35 lines
1.3 KiB
C
35 lines
1.3 KiB
C
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// Mission example:
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#define WP_RADIUS 3 // What is the minimum distance to reach a waypoint?
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#define ALT_TO_HOLD -1 // Altitude to hold above home in meters
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// Enter -1 to maintain current altitude when returning to home
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// The mission:
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float mission[][6] = {
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// CMD options P1 Alt Lat Long
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{MAV_CMD_NAV_TAKEOFF, 0, 0, 3.2, 0, 0}, // 1
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{MAV_CMD_NAV_WAYPOINT, 0, 0, 3.2, 37.716899, -122.381898}, // 2 turn 1
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{MAV_CMD_NAV_WAYPOINT, 0, 0, 3.2, 37.717475, -122.381394}, // 3 turn 2
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{MAV_CMD_NAV_WAYPOINT, 0, 0, 3.2, 37.717149, -122.380819}, // 4 turn 3
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{MAV_CMD_NAV_WAYPOINT, 0, 2, 3.2, 37.716592, -122.381358}, // 5 turn 4 with delay
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{MAV_CMD_NAV_WAYPOINT, 0, 5, 3.2, 37.716752, -122.381632}, // 6 Land WP with delay
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{MAV_CMD_NAV_LAND, 0, 0, 0, 0, 0}, // 7 LAND!
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};
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/*
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command #: 0 id:16 op:0 p1:0 p2:5007 p3:377659180 p4:-1224329500
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command #: 1 id:22 op:0 p1:0 p2:220 p3:0 p4:0
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command #: 2 id:16 op:0 p1:0 p2:220 p3:377168992 p4:-1223819008
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command #: 3 id:16 op:0 p1:0 p2:220 p3:377174752 p4:-1223813888
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command #: 4 id:16 op:0 p1:0 p2:220 p3:377171488 p4:-1223808256
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command #: 5 id:16 op:0 p1:2 p2:220 p3:377165920 p4:-1223813504
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command #: 6 id:16 op:0 p1:5 p2:220 p3:377167520 p4:-1223816320
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command #: 7 id:21 op:0 p1:0 p2:0 p3:0 p4:0
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*/
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/*
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Sparkfun
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*/
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