Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-11 02:18:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

APM: show waypoint number in jump message

Browse Source
This commit is contained in:
Andrew Tridgell 2012-08-14 16:54:08 +10:00
parent c525b6b997
commit dd17302def
1 changed files with 6 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
ArduPlane/commands_logic.pde
View File

@ -487,9 +487,10 @@ static void do_loiter_at_location()
static void do_jump()
{
struct Location temp;
gcs_send_text_fmt(PSTR("In jump. Jumps left: %i"),next_nonnav_command.lat);
if(next_nonnav_command.lat > 0) {
gcs_send_text_fmt(PSTR("Jump to WP %u. Jumps left: %d"),
(unsigned)next_nonnav_command.p1,
(int)next_nonnav_command.lat);
if (next_nonnav_command.lat > 0) {
nav_command_ID = NO_COMMAND;
next_nav_command.id = NO_COMMAND;
non_nav_command_ID = NO_COMMAND;
@ -498,7 +499,7 @@ static void do_jump()
temp.lat = next_nonnav_command.lat - 1; // Decrement repeat counter
set_cmd_with_index(temp, g.command_index);
gcs_send_text_fmt(PSTR("setting command index: %i"),next_nonnav_command.p1 - 1);
gcs_send_text_fmt(PSTR("setting command index: %i"),next_nonnav_command.p1 - 1);
g.command_index.set_and_save(next_nonnav_command.p1 - 1);
nav_command_index = next_nonnav_command.p1 - 1;
next_WP = prev_WP; // Need to back "next_WP" up as it was set to the next waypoint following the jump
@ -506,7 +507,7 @@ static void do_jump()
} else if (next_nonnav_command.lat == -1) { // A repeat count of -1 = repeat forever
nav_command_ID = NO_COMMAND;
non_nav_command_ID = NO_COMMAND;
gcs_send_text_fmt(PSTR("setting command index: %i"),next_nonnav_command.p1 - 1);
gcs_send_text_fmt(PSTR("setting command index: %i"),next_nonnav_command.p1 - 1);
g.command_index.set_and_save(next_nonnav_command.p1 - 1);
nav_command_index = next_nonnav_command.p1 - 1;
next_WP = prev_WP; // Need to back "next_WP" up as it was set to the next waypoint following the jump