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don't fly 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@427 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2010-09-07 05:43:08 +00:00
parent 5dc67ce6c6
commit a496ef2b17
3 changed files with 39 additions and 13 deletions
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2
libraries/RC/examples/AP_RC_test/AP_RC_test.pde
View File

@ -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

33
libraries/Waypoints/Waypoints.cpp
View File

@ -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;
}

13
libraries/Waypoints/Waypoints.h
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@ -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
@ -18,15 +18,20 @@ class Waypoints
int32_t lng; // Longitude * 10**7
};
WP get_waypoint_with_index(uint16_t i);
WP get_current_waypoint(void);
WP get_next_waypoint(void);
Waypoints::WP get_waypoint_with_index(uint16_t i);
Waypoints::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);
void set_waypoint_with_index(Waypoints::WP wp, uint16_t i);
uint8_t get_index(void);
void set_index(uint8_t i);
uint8_t get_total(void);
void set_total(uint8_t total);