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AP_Mission: support for MAV_CMD_CONTINUE_AND_CHANGE_ALT

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This commit is contained in:
Michael Day 2014-10-21 13:45:24 -07:00 committed by Andrew Tridgell
parent dca99a9643
commit b36c1b2c3d
1 changed files with 8 additions and 0 deletions
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8
libraries/AP_Mission/AP_Mission.cpp
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@ -512,6 +512,10 @@ bool AP_Mission::mavlink_to_mission_cmd(const mavlink_mission_item_t& packet, AP
cmd.p1 = packet.param1; // minimum pitch (plane only)
break;
case MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT: // MAV ID: 30
copy_location = true; // only using alt
break;
case MAV_CMD_NAV_SPLINE_WAYPOINT: // MAV ID: 82
copy_location = true;
cmd.p1 = packet.param1; // delay at waypoint in seconds
@ -777,6 +781,10 @@ bool AP_Mission::mission_cmd_to_mavlink(const AP_Mission::Mission_Command& cmd,
packet.param1 = cmd.p1; // minimum pitch (plane only)
break;
case MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT: // MAV ID: 30
copy_location = true; //only using alt.
break;
case MAV_CMD_NAV_SPLINE_WAYPOINT: // MAV ID: 82
copy_location = true;
packet.param1 = cmd.p1; // delay at waypoint in seconds