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Fix Do_Jump bug. Also fix cross track bearing bug after Jump

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This commit is contained in:
Doug Weibel 2011-11-15 20:44:19 -07:00
parent 0433cd6d69
commit e6542ec1a2
1 changed files with 12 additions and 1 deletions
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13
ArduPlane/commands_logic.pde
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@ -469,19 +469,30 @@ static void do_loiter_at_location()
static void do_jump() static void do_jump()
{ {
struct Location temp; struct Location temp;
gcs_send_text_fmt(PSTR("In jump. Jumps left: %i"),next_nonnav_command.lat);
if(next_nonnav_command.lat > 0) { if(next_nonnav_command.lat > 0) {
nav_command_ID = NO_COMMAND; nav_command_ID = NO_COMMAND;
next_nav_command.id = NO_COMMAND;
non_nav_command_ID = NO_COMMAND; non_nav_command_ID = NO_COMMAND;
temp = get_cmd_with_index(g.command_index); temp = get_cmd_with_index(g.command_index);
temp.lat = next_nonnav_command.lat - 1; // Decrement repeat counter temp.lat = next_nonnav_command.lat - 1; // Decrement repeat counter
set_cmd_with_index(temp, g.command_index); set_cmd_with_index(temp, g.command_index);
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); 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
process_next_command();
} else if (next_nonnav_command.lat == -1) { // A repeat count of -1 = repeat forever } else if (next_nonnav_command.lat == -1) { // A repeat count of -1 = repeat forever
nav_command_ID = NO_COMMAND; nav_command_ID = NO_COMMAND;
non_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);
g.command_index.set_and_save(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
process_next_command();
} }
} }