Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Plane: set_next_WP fn accepts Location

This commit is contained in:
Randy Mackay 2014-03-17 16:45:45 +09:00
parent 59555e8364
commit 2184ff1e58
2 changed files with 9 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
ArduPlane/commands.pde
View File

@ -13,10 +13,9 @@ static int32_t read_alt_to_hold()
/*
* This function stores waypoint commands
* It looks to see what the next command type is and finds the last command.
* set_next_WP - sets the target location the vehicle should fly to
*/
static void set_next_WP(const AP_Mission::Mission_Command& cmd)
static void set_next_WP(const struct Location& loc)
{
// copy the current WP into the OldWP slot
// ---------------------------------------
@ -24,7 +23,7 @@ static void set_next_WP(const AP_Mission::Mission_Command& cmd)
// Load the next_WP slot
// ---------------------
next_WP_loc = cmd.content.location;
next_WP_loc = loc;
// if lat and lon is zero, then use current lat/lon
// this allows a mission to contain a "loiter on the spot"

12
ArduPlane/commands_logic.pde
View File

@ -257,7 +257,7 @@ static void do_RTL(void)
static void do_takeoff(const AP_Mission::Mission_Command& cmd)
{
set_next_WP(cmd);
set_next_WP(cmd.content.location);
// pitch in deg, airspeed m/s, throttle %, track WP 1 or 0
takeoff_pitch_cd = (int)cmd.p1 * 100;
takeoff_altitude_cm = next_WP_loc.alt;
@ -269,12 +269,12 @@ static void do_takeoff(const AP_Mission::Mission_Command& cmd)
static void do_nav_wp(const AP_Mission::Mission_Command& cmd)
{
set_next_WP(cmd);
set_next_WP(cmd.content.location);
}
static void do_land(const AP_Mission::Mission_Command& cmd)
{
set_next_WP(cmd);
set_next_WP(cmd.content.location);
}
static void loiter_set_direction_wp(const AP_Mission::Mission_Command& cmd)
@ -288,20 +288,20 @@ static void loiter_set_direction_wp(const AP_Mission::Mission_Command& cmd)
static void do_loiter_unlimited(const AP_Mission::Mission_Command& cmd)
{
set_next_WP(cmd);
set_next_WP(cmd.content.location);
loiter_set_direction_wp(cmd);
}
static void do_loiter_turns(const AP_Mission::Mission_Command& cmd)
{
set_next_WP(cmd);
set_next_WP(cmd.content.location);
loiter.total_cd = cmd.p1 * 36000UL;
loiter_set_direction_wp(cmd);
}
static void do_loiter_time(const AP_Mission::Mission_Command& cmd)
{
set_next_WP(cmd);
set_next_WP(cmd.content.location);
// we set start_time_ms when we reach the waypoint
loiter.start_time_ms = 0;
loiter.time_max_ms = cmd.p1 * (uint32_t)1000; // units are seconds