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Mission Scripting re-write

This commit is contained in:
Jason Short 2011-11-16 00:15:59 -08:00
parent 839774fbf3
commit 5ed931c582
1 changed files with 11 additions and 7 deletions
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16
ArduCopter/ArduCopter.pde
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@ -306,10 +306,11 @@ static int32_t target_bearing; // deg * 100 : 0 to 360 location of the pla
static byte wp_control; // used to control - navgation or loiter static byte wp_control; // used to control - navgation or loiter
static byte command_must_index; // current command memory location static byte command_nav_index; // current command memory location
static byte command_may_index; // current command memory location static byte prev_nav_index;
static byte command_must_ID; // current command ID static byte command_cond_index; // current command memory location
static byte command_may_ID; // current command ID //static byte command_nav_ID; // current command ID
//static byte command_cond_ID; // current command ID
static byte wp_verify_byte; // used for tracking state of navigating waypoints static byte wp_verify_byte; // used for tracking state of navigating waypoints
static float cos_roll_x = 1; static float cos_roll_x = 1;
@ -318,7 +319,7 @@ static float cos_yaw_x = 1;
static float sin_pitch_y, sin_yaw_y, sin_roll_y; static float sin_pitch_y, sin_yaw_y, sin_roll_y;
static int32_t initial_simple_bearing; // used for Simple mode static int32_t initial_simple_bearing; // used for Simple mode
static float simple_sin_y, simple_cos_x; static float simple_sin_y, simple_cos_x;
static byte jump = -10; // used to track loops in jump command static int8_t jump = -10; // used to track loops in jump command
static int16_t waypoint_speed_gov; static int16_t waypoint_speed_gov;
static float circle_angle; static float circle_angle;
@ -463,7 +464,8 @@ static struct Location prev_WP; // last waypoint
static struct Location current_loc; // current location static struct Location current_loc; // current location
static struct Location next_WP; // next waypoint static struct Location next_WP; // next waypoint
static struct Location target_WP; // where do we want to you towards? static struct Location target_WP; // where do we want to you towards?
static struct Location next_command; // command preloaded static struct Location command_nav_queue; // command preloaded
static struct Location command_cond_queue; // command preloaded
static struct Location guided_WP; // guided mode waypoint static struct Location guided_WP; // guided mode waypoint
static int32_t target_altitude; // used for static int32_t target_altitude; // used for
static boolean home_is_set; // Flag for if we have g_gps lock and have set the home location static boolean home_is_set; // Flag for if we have g_gps lock and have set the home location
@ -688,8 +690,10 @@ static void medium_loop()
// perform next command // perform next command
// -------------------- // --------------------
if(control_mode == AUTO){ if(control_mode == AUTO){
if(home_is_set == true && g.command_total > 1){
update_commands(); update_commands();
} }
}
if(motor_armed){ if(motor_armed){
if (g.log_bitmask & MASK_LOG_ATTITUDE_MED) if (g.log_bitmask & MASK_LOG_ATTITUDE_MED)