Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-28 19:48:31 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Mission: support for NAV_CMD_PLACE

Browse Source 
AP_Mission: check return values of mission fetches
This commit is contained in:
Peter Barker 2016-11-17 16:19:05 +11:00
parent 20b86605fa
commit 20b83861e9
1 changed files with 18 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

23
libraries/AP_Mission/AP_Mission.cpp
View File

@ -125,10 +125,13 @@ bool AP_Mission::starts_with_takeoff_cmd()
if (cmd_index == AP_MISSION_CMD_INDEX_NONE) {
// start from beginning of the mission command list
cmd_index = AP_MISSION_FIRST_REAL_COMMAND;
get_next_cmd(cmd_index, cmd, true);
if (!get_next_cmd(cmd_index, cmd, true)) {
return false;
}
} else {
read_cmd_from_storage(cmd_index, cmd);
if (!read_cmd_from_storage(cmd_index, cmd)) {
return false;
}
}
if (cmd.id != MAV_CMD_NAV_TAKEOFF) {
@ -767,7 +770,12 @@ MAV_MISSION_RESULT AP_Mission::mavlink_int_to_mission_cmd(const mavlink_mission_
cmd.content.do_engine_control.cold_start = (packet.param2>0);
cmd.content.do_engine_control.height_delay_cm = packet.param3*100;
break;
case MAV_CMD_NAV_PAYLOAD_PLACE:
cmd.p1 = packet.param1*100; // copy max-descend parameter (m->cm)
copy_location = true;
break;
default:
// unrecognised command
return MAV_MISSION_UNSUPPORTED;
@ -1212,7 +1220,12 @@ bool AP_Mission::mission_cmd_to_mavlink_int(const AP_Mission::Mission_Command& c
packet.param2 = cmd.content.do_engine_control.cold_start?1:0;
packet.param3 = cmd.content.do_engine_control.height_delay_cm*0.01f;
break;
case MAV_CMD_NAV_PAYLOAD_PLACE:
copy_location = true;
packet.param1 = cmd.p1/100.0f; // copy max-descend parameter (m->cm)
break;
default:
// unrecognised command
return false;