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AP_Mission: support DO_VTOL_TRANSITION command

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first 16 bit command ID
This commit is contained in:
Andrew Tridgell 2016-04-22 18:22:12 +10:00
parent 07168c3db4
commit 3a5e4c80ca
2 changed files with 16 additions and 0 deletions
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8
libraries/AP_Mission/AP_Mission.cpp
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@ -727,6 +727,10 @@ MAV_MISSION_RESULT AP_Mission::mavlink_to_mission_cmd(const mavlink_mission_item
copy_location = true;
break;
case MAV_CMD_DO_VTOL_TRANSITION:
cmd.content.do_vtol_transition.target_state = packet.param1;
break;
default:
// unrecognised command
return MAV_MISSION_UNSUPPORTED;
@ -1068,6 +1072,10 @@ bool AP_Mission::mission_cmd_to_mavlink(const AP_Mission::Mission_Command& cmd,
copy_location = true;
break;
case MAV_CMD_DO_VTOL_TRANSITION:
packet.param1 = cmd.content.do_vtol_transition.target_state;
break;
default:
// unrecognised command
return false;

8
libraries/AP_Mission/AP_Mission.h
View File

@ -156,6 +156,11 @@ public:
float horiz_max; // max horizontal distance the vehicle can move before the command will be aborted. 0 for no horizontal limit
};
// do VTOL transition
struct PACKED Do_VTOL_Transition {
uint8_t target_state;
};
union PACKED Content {
// jump structure
Jump_Command jump;
@ -205,6 +210,9 @@ public:
// cam trigg distance
Altitude_Wait altitude_wait;
// do vtol transition
Do_VTOL_Transition do_vtol_transition;
// location
Location location; // Waypoint location