Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 14:38:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Mission: Adding new MAV_CMD_DO_SET_REVERSE for Rovers.

Browse Source 
Rover now supports reverse via this MAV_CMD.
This commit is contained in:
Grant Morphett 2016-07-14 17:35:49 +10:00 committed by Andrew Tridgell
parent 647602ed4d
commit 4e8666cee9
1 changed files with 8 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AP_Mission/AP_Mission.cpp
View File

@ -758,6 +758,10 @@ MAV_MISSION_RESULT AP_Mission::mavlink_int_to_mission_cmd(const mavlink_mission_
cmd.content.do_vtol_transition.target_state = packet.param1;
break;
case MAV_CMD_DO_SET_REVERSE:
cmd.p1 = packet.param1; // 0 = forward, 1 = reverse
break;
default:
// unrecognised command
return MAV_MISSION_UNSUPPORTED;
@ -1175,6 +1179,10 @@ bool AP_Mission::mission_cmd_to_mavlink_int(const AP_Mission::Mission_Command& c
packet.param1 = cmd.p1; // disable=0 enable=1
break;
case MAV_CMD_DO_SET_REVERSE:
packet.param1 = cmd.p1; // 0 = forward, 1 = reverse
break;
case MAV_CMD_NAV_ALTITUDE_WAIT: // MAV ID: 83
packet.param1 = cmd.content.altitude_wait.altitude;
packet.param2 = cmd.content.altitude_wait.descent_rate;