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Mission Scripting re-write

This commit is contained in:
Jason Short 2011-11-16 00:16:09 -08:00
parent 5ed931c582
commit 65fe467a57
1 changed files with 10 additions and 7 deletions
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17
ArduCopter/commands.pde
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@ -7,8 +7,9 @@ static void init_commands()
// This are registers for the current may and must commands // This are registers for the current may and must commands
// setting to zero will allow them to be written to by new commands // setting to zero will allow them to be written to by new commands
command_must_index = NO_COMMAND; command_nav_index = NO_COMMAND;
command_may_index = NO_COMMAND; command_cond_index = NO_COMMAND;
prev_nav_index = NO_COMMAND;
// clear the command queue // clear the command queue
clear_command_queue(); clear_command_queue();
@ -17,7 +18,8 @@ static void init_commands()
// forces the loading of a new command // forces the loading of a new command
// queue is emptied after a new command is processed // queue is emptied after a new command is processed
static void clear_command_queue(){ static void clear_command_queue(){
next_command.id = NO_COMMAND; command_cond_queue.id = NO_COMMAND;
command_nav_queue.id = NO_COMMAND;
} }
// Getters // Getters
@ -111,7 +113,8 @@ static void set_command_with_index(struct Location temp, int i)
g.command_total.set_and_save(i+1); g.command_total.set_and_save(i+1);
} }
static void increment_WP_index() /*
//static void increment_WP_index()
{ {
if (g.command_index < (g.command_total-1)) { if (g.command_index < (g.command_total-1)) {
g.command_index++; g.command_index++;
@ -119,9 +122,9 @@ static void increment_WP_index()
SendDebugln(g.command_index,DEC); SendDebugln(g.command_index,DEC);
} }
*/
/* /*
static void decrement_WP_index() //static void decrement_WP_index()
{ {
if (g.command_index > 0) { if (g.command_index > 0) {
g.command_index.set_and_save(g.command_index - 1); g.command_index.set_and_save(g.command_index - 1);
@ -130,7 +133,7 @@ static void decrement_WP_index()
static int32_t read_alt_to_hold() static int32_t read_alt_to_hold()
{ {
if(g.RTL_altitude < 0) if(g.RTL_altitude <= 0)
return current_loc.alt; return current_loc.alt;
else else
return g.RTL_altitude;// + home.alt; return g.RTL_altitude;// + home.alt;