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Better error and defaults checking

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This commit is contained in:
Jason Short 2011-11-13 22:54:18 -08:00
parent 2672cac850
commit 288db5c7c5
2 changed files with 6 additions and 4 deletions
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2
ArduCopter/APM_Config.h
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@ -27,7 +27,7 @@
V_FRAME V_FRAME
*/ */
# define CH7_OPTION CH7_DO_NOTHING # define CH7_OPTION CH7_SAVE_WP
/* /*
CH7_DO_NOTHING CH7_DO_NOTHING
CH7_SET_HOVER CH7_SET_HOVER

8
ArduCopter/commands.pde
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@ -77,13 +77,15 @@ static struct Location get_cmd_with_index(int i)
// ------- // -------
static void set_command_with_index(struct Location temp, int i) static void set_command_with_index(struct Location temp, int i)
{ {
Serial.printf("set_command: %d with id: %d\n", i, temp.id);
i = constrain(i, 0, g.command_total.get()); i = constrain(i, 0, g.command_total.get());
Serial.printf("set_command: %d with id: %d\n", i, temp.id); //Serial.printf("set_command: %d with id: %d\n", i, temp.id);
// store home as 0 altitude!!! // store home as 0 altitude!!!
if (i == 0) // Home is always a MAV_CMD_NAV_WAYPOINT (16)
if (i == 0){
temp.alt = 0; temp.alt = 0;
temp.id = MAV_CMD_NAV_WAYPOINT;
}
uint32_t mem = WP_START_BYTE + (i * WP_SIZE); uint32_t mem = WP_START_BYTE + (i * WP_SIZE);