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Copter: integrate Mission cmd field changes

This commit is contained in:
Randy Mackay 2014-03-19 11:14:06 +09:00
parent 3ce56f3086
commit 88527cd01c
1 changed files with 8 additions and 7 deletions
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15
ArduCopter/commands_logic.pde
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@ -96,13 +96,13 @@ static bool start_command(const AP_Mission::Mission_Command& cmd)
break;
case MAV_CMD_DO_REPEAT_SERVO:
ServoRelayEvents.do_repeat_servo(cmd.content.servo.channel, cmd.content.servo.pwm,
cmd.content.servo.repeat_count, cmd.content.servo.time_ms);
ServoRelayEvents.do_repeat_servo(cmd.content.repeat_servo.channel, cmd.content.repeat_servo.pwm,
cmd.content.repeat_servo.repeat_count, cmd.content.repeat_servo.cycle_time * 1000.0f);
break;
case MAV_CMD_DO_REPEAT_RELAY:
ServoRelayEvents.do_repeat_relay(cmd.content.relay.num, cmd.content.relay.repeat_count,
cmd.content.relay.time_ms);
ServoRelayEvents.do_repeat_relay(cmd.content.repeat_relay.num, cmd.content.repeat_relay.repeat_count,
cmd.content.repeat_relay.cycle_time * 1000.0f);
break;
case MAV_CMD_DO_SET_ROI: // 201
@ -563,8 +563,7 @@ static void do_yaw(const AP_Mission::Mission_Command& cmd)
// set yaw mode
set_auto_yaw_mode(AUTO_YAW_LOOK_AT_HEADING);
// TO-DO: restore support for clockwise / counter clockwise rotation held in command_cond_queue.p1
// cmd.content.yaw.direction // 1 = clockwise, -1 = counterclockwise
// TO-DO: restore support for clockwise and counter clockwise rotation held in cmd.content.yaw.direction. 1 = clockwise, -1 = counterclockwise
}
@ -629,7 +628,9 @@ static bool do_guided(const AP_Mission::Mission_Command& cmd)
static void do_change_speed(const AP_Mission::Mission_Command& cmd)
{
wp_nav.set_horizontal_velocity(cmd.content.speed.target_ms * 100.0f);
if (cmd.content.speed.target_ms > 0) {
wp_nav.set_horizontal_velocity(cmd.content.speed.target_ms * 100.0f);
}
}
static void do_set_home(const AP_Mission::Mission_Command& cmd)