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Arducopter: CH7 Waypoint saving

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Saves the takeoff Waypoint as Home + new altitude rather than current location.
This commit is contained in:
Jason Short 2012-07-09 23:20:43 -07:00
parent 8e14ebbc10
commit 46f292bcd8
1 changed files with 4 additions and 2 deletions
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6
ArduCopter/control_modes.pde
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@ -110,14 +110,16 @@ static void read_trim_switch()
// increment index to WP index of 1 (home is stored at 0)
CH7_wp_index = 1;
Location temp = home;
// set our location ID to 16, MAV_CMD_NAV_WAYPOINT
current_loc.id = MAV_CMD_NAV_TAKEOFF;
temp.id = MAV_CMD_NAV_TAKEOFF;
temp.alt = current_loc.alt;
// save command:
// we use the current altitude to be the target for takeoff.
// only altitude will matter to the AP mission script for takeoff.
// If we are above the altitude, we will skip the command.
set_cmd_with_index(current_loc, CH7_wp_index);
set_cmd_with_index(temp, CH7_wp_index);
}
// increment index