Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Plane: use mission command specific structures

This commit is contained in:
Randy Mackay 2014-03-17 14:16:45 +09:00
parent c75560218d
commit ad4f30e790
1 changed files with 24 additions and 24 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

44
ArduPlane/commands_logic.pde
View File

@ -97,21 +97,21 @@ start_command(const AP_Mission::Mission_Command& cmd)
break;
case MAV_CMD_DO_SET_SERVO:
ServoRelayEvents.do_set_servo(cmd.p1, cmd.content.location.alt);
ServoRelayEvents.do_set_servo(cmd.content.servo.channel, cmd.content.servo.pwm);
break;
case MAV_CMD_DO_SET_RELAY:
ServoRelayEvents.do_set_relay(cmd.p1, cmd.content.location.alt);
ServoRelayEvents.do_set_relay(cmd.content.relay.num, cmd.content.relay.state);
break;
case MAV_CMD_DO_REPEAT_SERVO:
ServoRelayEvents.do_repeat_servo(cmd.p1, cmd.content.location.alt,
cmd.content.location.lat, cmd.content.location.lng);
ServoRelayEvents.do_repeat_servo(cmd.content.servo.channel, cmd.content.servo.pwm,
cmd.content.servo.repeat_count, cmd.content.servo.time_ms);
break;
case MAV_CMD_DO_REPEAT_RELAY:
ServoRelayEvents.do_repeat_relay(cmd.p1, cmd.content.location.alt,
cmd.content.location.lat);
ServoRelayEvents.do_repeat_relay(cmd.content.relay.num, cmd.content.relay.repeat_count,
cmd.content.relay.time_ms);
break;
#if CAMERA == ENABLED
@ -126,7 +126,7 @@ start_command(const AP_Mission::Mission_Command& cmd)
break;
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
camera.set_trigger_distance(cmd.content.location.alt);
camera.set_trigger_distance(cmd.content.cam_trigg_dist.meters);
break;
#endif
@ -472,24 +472,24 @@ static bool verify_RTL()
static void do_wait_delay(const AP_Mission::Mission_Command& cmd)
{
condition_start = millis();
condition_value = cmd.content.location.lat * 1000; // convert to milliseconds
condition_value = cmd.content.delay.seconds * 1000; // convert seconds to milliseconds
}
static void do_change_alt(const AP_Mission::Mission_Command& cmd)
{
condition_rate = labs((int)cmd.content.location.lat);
condition_value = cmd.content.location.alt;
condition_rate = labs((int)cmd.content.location.lat); // climb rate in cm/s
condition_value = cmd.content.location.alt; // To-Do: ensure this altitude is an absolute altitude?
if (condition_value < adjusted_altitude_cm()) {
condition_rate = -condition_rate;
}
target_altitude_cm = adjusted_altitude_cm() + (condition_rate / 10); // Divide by ten for 10Hz update
target_altitude_cm = adjusted_altitude_cm() + (condition_rate / 10); // condition_rate is climb rate in cm/s. We divide by 10 because this function is called at 10hz
next_WP_loc.alt = condition_value; // For future nav calculations
offset_altitude_cm = 0; // For future nav calculations
}
static void do_within_distance(const AP_Mission::Mission_Command& cmd)
{
condition_value = cmd.content.location.lat;
condition_value = cmd.content.distance.meters;
}
/********************************************************************************/
@ -512,7 +512,7 @@ static bool verify_change_alt()
condition_value = 0;
return true;
}
target_altitude_cm += condition_rate / 10;
target_altitude_cm += condition_rate / 10; // condition_rate is climb rate in cm/s. We divide by 10 because this function is called at 10hz
return false;
}
@ -541,23 +541,23 @@ static void do_loiter_at_location()
static void do_change_speed(const AP_Mission::Mission_Command& cmd)
{
switch (cmd.p1)
switch (cmd.content.speed.speed_type)
{
case 0: // Airspeed
if (cmd.content.location.alt > 0) {
g.airspeed_cruise_cm.set(cmd.content.location.alt * 100);
gcs_send_text_fmt(PSTR("Set airspeed %u m/s"), (unsigned)cmd.content.location.alt);
if (cmd.content.speed.target_ms > 0) {
g.airspeed_cruise_cm.set(cmd.content.speed.target_ms * 100);
gcs_send_text_fmt(PSTR("Set airspeed %u m/s"), (unsigned)cmd.content.speed.target_ms);
}
break;
case 1: // Ground speed
gcs_send_text_fmt(PSTR("Set groundspeed %u"), (unsigned)cmd.content.location.alt);
g.min_gndspeed_cm.set(cmd.content.location.alt * 100);
gcs_send_text_fmt(PSTR("Set groundspeed %u"), (unsigned)cmd.content.speed.target_ms);
g.min_gndspeed_cm.set(cmd.content.speed.target_ms * 100);
break;
}
if (cmd.content.location.lat > 0) {
gcs_send_text_fmt(PSTR("Set throttle %u"), (unsigned)cmd.content.location.lat);
aparm.throttle_cruise.set(cmd.content.location.lat);
if (cmd.content.speed.throttle_pct > 0) {
gcs_send_text_fmt(PSTR("Set throttle %u"), (unsigned)cmd.content.speed.throttle_pct);
aparm.throttle_cruise.set(cmd.content.speed.throttle_pct);
}
}