From a496ef2b171716e51d114f1640dea0d03f3de773 Mon Sep 17 00:00:00 2001
From: jasonshort <jasonshort@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Tue, 7 Sep 2010 05:43:08 +0000
Subject: [PATCH] don't fly

git-svn-id: https://arducopter.googlecode.com/svn/trunk@427 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 .../RC/examples/AP_RC_test/AP_RC_test.pde     |  2 +-
 libraries/Waypoints/Waypoints.cpp             | 33 +++++++++++++++----
 libraries/Waypoints/Waypoints.h               | 17 ++++++----
 3 files changed, 39 insertions(+), 13 deletions(-)

diff --git a/libraries/RC/examples/AP_RC_test/AP_RC_test.pde b/libraries/RC/examples/AP_RC_test/AP_RC_test.pde
index 1130908340..3b2b02c90c 100644
--- a/libraries/RC/examples/AP_RC_test/AP_RC_test.pde
+++ b/libraries/RC/examples/AP_RC_test/AP_RC_test.pde
@@ -6,7 +6,7 @@
 	(Works with last PPM_encoder firmware)
 */
 
-#include <AP_RC.h> // ArduPilot Mega RC Library
+#include <AP_RC.h> // ArduPilot RC Library
 AP_RC rc;
 
 #define CH_ROLL 0
diff --git a/libraries/Waypoints/Waypoints.cpp b/libraries/Waypoints/Waypoints.cpp
index c15055701c..edf64a6710 100644
--- a/libraries/Waypoints/Waypoints.cpp
+++ b/libraries/Waypoints/Waypoints.cpp
@@ -11,15 +11,12 @@
 
 #include "Waypoints.h"
 
-Waypoints::Waypoints(uint16_t start_byte, uint8_t wp_size, uint8_t total)
+Waypoints::Waypoints()
 {
-	_start_byte	= start_byte;
-	_wp_size	= wp_size;
-	_total		= total;
 }
 
 void 
-Waypoints::set_waypoint_with_index(Waypoints::WP wp, uint16_t i)
+Waypoints::set_waypoint_with_index(Waypoints::WP wp, uint8_t i)
 {
 	i = constrain(i, 0, _total);
 	uint32_t mem = _start_byte + (i * _wp_size);
@@ -45,7 +42,7 @@ Waypoints::set_waypoint_with_index(Waypoints::WP wp, uint16_t i)
 }
 
 Waypoints::WP
-Waypoints::get_waypoint_with_index(uint16_t i)
+Waypoints::get_waypoint_with_index(uint8_t i)
 {
 	Waypoints::WP wp;
 
@@ -79,6 +76,13 @@ Waypoints::get_next_waypoint(void)
 	_index++;
 	if (_index >= _total)
 		_index == 0;
+	return get_waypoint_with_index(_index);
+}
+
+Waypoints::WP
+Waypoints::get_current_waypoint(void)
+{
+	return get_waypoint_with_index(_index);
 }
 
 uint8_t
@@ -98,3 +102,20 @@ Waypoints::get_total(void)
 {
 	return _total;
 }
+void
+Waypoints::set_total(uint8_t total)
+{
+	_total = total;
+}
+
+void
+Waypoints::set_start_byte(uint16_t start_byte)
+{
+	_start_byte = start_byte;
+}
+
+void
+Waypoints::set_wp_size(uint8_t wp_size)
+{
+	_wp_size = wp_size;
+}
diff --git a/libraries/Waypoints/Waypoints.h b/libraries/Waypoints/Waypoints.h
index fb0ea5da3a..7fce5aec91 100644
--- a/libraries/Waypoints/Waypoints.h
+++ b/libraries/Waypoints/Waypoints.h
@@ -8,7 +8,7 @@
 class Waypoints
 {
   public:
-	Waypoints(uint16_t start_byte, uint8_t wp_size, uint8_t total);
+	Waypoints();
 
 	struct WP {
 		uint8_t id;					// for commands
@@ -17,16 +17,21 @@ class Waypoints
 		int32_t lat;				// Lattitude * 10**7
 		int32_t lng;				// Longitude * 10**7
 	};
-
-
-	Waypoints::WP get_waypoint_with_index(uint16_t i);
-	Waypoints::WP get_next_waypoint(void);
 	
-	void 		set_waypoint_with_index(Waypoints::WP wp, uint16_t i);
+	WP get_waypoint_with_index(uint16_t i);
+	WP get_current_waypoint(void);
+	WP get_next_waypoint(void);
+	
+	void 		set_waypoint_with_index(Waypoints::WP wp, uint8_t i);
+
+	void 		set_start_byte(uint16_t start_byte);
+	void 		set_wp_size(uint8_t wp_size);
+	
 	uint8_t 	get_index(void);
 	void 		set_index(uint8_t i);
 
 	uint8_t 	get_total(void);
+	void 		set_total(uint8_t total);