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Plane: integrate Mission cmd field changes

This commit is contained in:
Randy Mackay 2014-03-19 11:13:47 +09:00
parent c520cb789c
commit 3ce56f3086
1 changed files with 5 additions and 5 deletions
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10
ArduPlane/commands_logic.pde
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@ -105,13 +105,13 @@ start_command(const AP_Mission::Mission_Command& cmd)
break;
case MAV_CMD_DO_REPEAT_SERVO:
ServoRelayEvents.do_repeat_servo(cmd.content.servo.channel, cmd.content.servo.pwm,
cmd.content.servo.repeat_count, cmd.content.servo.time_ms);
ServoRelayEvents.do_repeat_servo(cmd.content.repeat_servo.channel, cmd.content.repeat_servo.pwm,
cmd.content.repeat_servo.repeat_count, cmd.content.repeat_servo.cycle_time * 1000.0f);
break;
case MAV_CMD_DO_REPEAT_RELAY:
ServoRelayEvents.do_repeat_relay(cmd.content.relay.num, cmd.content.relay.repeat_count,
cmd.content.relay.time_ms);
ServoRelayEvents.do_repeat_relay(cmd.content.repeat_relay.num, cmd.content.repeat_relay.repeat_count,
cmd.content.repeat_relay.cycle_time * 1000.0f);
break;
#if CAMERA == ENABLED
@ -555,7 +555,7 @@ static void do_change_speed(const AP_Mission::Mission_Command& cmd)
break;
}
if (cmd.content.speed.throttle_pct > 0) {
if (cmd.content.speed.throttle_pct > 0 && cmd.content.speed.throttle_pct <= 100) {
gcs_send_text_fmt(PSTR("Set throttle %u"), (unsigned)cmd.content.speed.throttle_pct);
aparm.throttle_cruise.set(cmd.content.speed.throttle_pct);
}