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AP_Mission: Give CONINTUE_AND_CHANGE_ALT a parameter: climb/descend

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Param 1 denotes which direction the user expects the plane to
travel when changing altitude:

0 = no expectation, command completes when within 5 m of altitude.
1 = climb expected, command completes at or above altitude.
2 = descent expected, command completes at or below altitude.
This commit is contained in:
Michael Day 2015-08-18 20:45:48 -06:00 committed by Grant Morphett
parent 66d7fbfbc1
commit 7e8e3698ae
1 changed files with 9 additions and 1 deletions
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10
libraries/AP_Mission/AP_Mission.cpp
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@ -531,6 +531,10 @@ bool AP_Mission::mavlink_to_mission_cmd(const mavlink_mission_item_t& packet, AP
case MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT: // MAV ID: 30 case MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT: // MAV ID: 30
copy_location = true; // only using alt copy_location = true; // only using alt
cmd.p1 = packet.param1; // Climb/Descend
// 0 = Neutral, cmd complete at +/- 5 of indicated alt.
// 1 = Climb, cmd complete at or above indicated alt.
// 2 = Descend, cmd complete at or below indicated alt.
break; break;
case MAV_CMD_NAV_LOITER_TO_ALT: // MAV ID: 31 case MAV_CMD_NAV_LOITER_TO_ALT: // MAV ID: 31
@ -849,7 +853,11 @@ bool AP_Mission::mission_cmd_to_mavlink(const AP_Mission::Mission_Command& cmd,
break; break;
case MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT: // MAV ID: 30 case MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT: // MAV ID: 30
copy_location = true; //only using alt. copy_location = true; //only using alt
packet.param1 = cmd.p1; // Climb/Descend
// 0 = Neutral, cmd complete at +/- 5 of indicated alt.
// 1 = Climb, cmd complete at or above indicated alt.
// 2 = Descend, cmd complete at or below indicated alt.
break; break;
case MAV_CMD_NAV_LOITER_TO_ALT: // MAV ID: 31 case MAV_CMD_NAV_LOITER_TO_ALT: // MAV ID: 31