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AP_Mission: support MAV_CMD_NAV_DELAY command

This commit is contained in:
Niti Rohilla 2016-04-18 12:42:40 +05:30 committed by Randy Mackay
parent 28b52a6b78
commit d771017c25
2 changed files with 25 additions and 0 deletions
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14
libraries/AP_Mission/AP_Mission.cpp
View File

@ -585,6 +585,13 @@ MAV_MISSION_RESULT AP_Mission::mavlink_int_to_mission_cmd(const mavlink_mission_
cmd.p1 = packet.param1; // on/off. >0.5 means "on", hand-over control to external controller
break;
case MAV_CMD_NAV_DELAY: // MAV ID: 94
cmd.content.nav_delay.seconds = packet.param1; // delay in seconds
cmd.content.nav_delay.hour_utc = packet.param2;// absolute time's hour (utc)
cmd.content.nav_delay.min_utc = packet.param3;// absolute time's min (utc)
cmd.content.nav_delay.sec_utc = packet.param4; // absolute time's second (utc)
break;
case MAV_CMD_CONDITION_DELAY: // MAV ID: 112
cmd.content.delay.seconds = packet.param1; // delay in seconds
break;
@ -1007,6 +1014,13 @@ bool AP_Mission::mission_cmd_to_mavlink_int(const AP_Mission::Mission_Command& c
packet.param1 = cmd.p1; // on/off. >0.5 means "on", hand-over control to external controller
break;
case MAV_CMD_NAV_DELAY: // MAV ID: 94
packet.param1 = cmd.content.nav_delay.seconds; // delay in seconds
packet.param2 = cmd.content.nav_delay.hour_utc; // absolute time's day of week (utc)
packet.param3 = cmd.content.nav_delay.min_utc; // absolute time's hour (utc)
packet.param4 = cmd.content.nav_delay.sec_utc; // absolute time's min (utc)
break;
case MAV_CMD_CONDITION_DELAY: // MAV ID: 112
packet.param1 = cmd.content.delay.seconds; // delay in seconds
break;

11
libraries/AP_Mission/AP_Mission.h
View File

@ -161,6 +161,14 @@ public:
uint8_t target_state;
};
// navigation delay command structure
struct PACKED Navigation_Delay_Command {
float seconds; // period of delay in seconds
int8_t hour_utc; // absolute time's hour (utc)
int8_t min_utc; // absolute time's min (utc)
int8_t sec_utc; // absolute time's sec (utc)
};
union PACKED Content {
// jump structure
Jump_Command jump;
@ -216,6 +224,9 @@ public:
// location
Location location; // Waypoint location
// navigation delay
Navigation_Delay_Command nav_delay;
// raw bytes, for reading/writing to eeprom. Note that only 10 bytes are available
// if a 16 bit command ID is used
uint8_t bytes[12];