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AP_Mission: added ALTITUDE_WAIT NAV command

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used for HAB launch
This commit is contained in:
Andrew Tridgell 2014-04-23 22:36:56 +10:00 committed by Andrew Tridgell
parent c415bfe766
commit 08acde2766
2 changed files with 20 additions and 0 deletions
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10
libraries/AP_Mission/AP_Mission.cpp
View File

@ -671,6 +671,11 @@ bool AP_Mission::mavlink_to_mission_cmd(const mavlink_mission_item_t& packet, AP
cmd.content.guided_limits.alt_min = packet.param2; // min alt below which the command will be aborted. 0 for no lower alt limit
cmd.content.guided_limits.alt_max = packet.param3; // max alt above which the command will be aborted. 0 for no upper alt limit
cmd.content.guided_limits.horiz_max = packet.param4;// max horizontal distance the vehicle can move before the command will be aborted. 0 for no horizontal limit
case MAV_CMD_NAV_ALTITUDE_WAIT:
cmd.content.altitude_wait.altitude = packet.param1;
cmd.content.altitude_wait.descent_rate = packet.param2;
cmd.content.altitude_wait.wiggle_time = packet.param3;
break;
default:
@ -974,6 +979,11 @@ bool AP_Mission::mission_cmd_to_mavlink(const AP_Mission::Mission_Command& cmd,
packet.param2 = cmd.content.guided_limits.alt_min; // min alt below which the command will be aborted. 0 for no lower alt limit
packet.param3 = cmd.content.guided_limits.alt_max; // max alt above which the command will be aborted. 0 for no upper alt limit
packet.param4 = cmd.content.guided_limits.horiz_max;// max horizontal distance the vehicle can move before the command will be aborted. 0 for no horizontal limit
case MAV_CMD_NAV_ALTITUDE_WAIT:
packet.param1 = cmd.content.altitude_wait.altitude;
packet.param2 = cmd.content.altitude_wait.descent_rate;
packet.param3 = cmd.content.altitude_wait.wiggle_time;
break;
default:

10
libraries/AP_Mission/AP_Mission.h
View File

@ -146,6 +146,13 @@ public:
uint8_t action; // action (0 = release, 1 = grab)
};
// high altitude balloon altitude wait
struct PACKED Altitude_Wait {
float altitude; // meters
float descent_rate; // m/s
uint8_t wiggle_time; // seconds
};
// nav guided command
struct PACKED Guided_Limits_Command {
// max time is held in p1 field
@ -200,6 +207,9 @@ public:
// do-guided-limits
Guided_Limits_Command guided_limits;
// cam trigg distance
Altitude_Wait altitude_wait;
// location
Location location; // Waypoint location