Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

ArduSub: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS

Browse Source
This commit is contained in:
Peter Barker 2022-05-11 13:56:07 +10:00 committed by Andrew Tridgell
parent 3bf0a21887
commit 317457ec1a
1 changed files with 4 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
ArduSub/commands_logic.cpp
View File

@ -353,7 +353,10 @@ void Sub::do_circle(const AP_Mission::Mission_Command& cmd)
} }
// calculate radius // calculate radius
uint8_t circle_radius_m = HIGHBYTE(cmd.p1); // circle radius held in high byte of p1 uint16_t circle_radius_m = HIGHBYTE(cmd.p1); // circle radius held in high byte of p1
if (cmd.type_specific_bits & (1U << 0)) {
circle_radius_m *= 10;
}
// move to edge of circle (verify_circle) will ensure we begin circling once we reach the edge // move to edge of circle (verify_circle) will ensure we begin circling once we reach the edge
auto_circle_movetoedge_start(circle_center, circle_radius_m); auto_circle_movetoedge_start(circle_center, circle_radius_m);