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

renamed the options_mask

This commit is contained in:
Jason Short 2011-11-19 23:23:49 -08:00
parent 77da1227bb
commit b883ff937c
1 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
ArduCopter/commands_logic.pde
View File

@ -222,7 +222,7 @@ static void do_takeoff()
Location temp = current_loc; Location temp = current_loc;
// command_nav_queue.alt is a relative altitude!!! // command_nav_queue.alt is a relative altitude!!!
if (command_nav_queue.options & WP_OPTION_ALT_RELATIVE) { if (command_nav_queue.options & MASK_OPTIONS_RELATIVE_ALT) {
temp.alt = command_nav_queue.alt + home.alt; temp.alt = command_nav_queue.alt + home.alt;
//Serial.printf("rel alt: %ld",temp.alt); //Serial.printf("rel alt: %ld",temp.alt);
} else { } else {
@ -242,7 +242,7 @@ static void do_nav_wp()
wp_control = WP_MODE; wp_control = WP_MODE;
// command_nav_queue.alt is a relative altitude!!! // command_nav_queue.alt is a relative altitude!!!
if (command_nav_queue.options & WP_OPTION_ALT_RELATIVE) { if (command_nav_queue.options & MASK_OPTIONS_RELATIVE_ALT) {
command_nav_queue.alt += home.alt; command_nav_queue.alt += home.alt;
} }
set_next_WP(&command_nav_queue); set_next_WP(&command_nav_queue);
@ -258,7 +258,7 @@ static void do_nav_wp()
loiter_time_max = command_nav_queue.p1 * 1000; loiter_time_max = command_nav_queue.p1 * 1000;
// if we don't require an altitude minimum, we save this flag as passed (1) // if we don't require an altitude minimum, we save this flag as passed (1)
if((next_WP.options & WP_OPTION_ALT_REQUIRED) == 0){ if((next_WP.options & MASK_OPTIONS_RELATIVE_ALT) == 0){
// we don't need to worry about it // we don't need to worry about it
wp_verify_byte |= NAV_ALTITUDE; wp_verify_byte |= NAV_ALTITUDE;
} }
@ -383,7 +383,7 @@ static bool verify_land()
static bool verify_nav_wp() static bool verify_nav_wp()
{ {
// Altitude checking // Altitude checking
if(next_WP.options & WP_OPTION_ALT_REQUIRED){ if(next_WP.options & MASK_OPTIONS_RELATIVE_ALT){
// we desire a certain minimum altitude // we desire a certain minimum altitude
if (current_loc.alt > next_WP.alt){ if (current_loc.alt > next_WP.alt){
// we have reached that altitude // we have reached that altitude