ardupilot/ArduPlane/commands_process.pde

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// forward declaration of verify_command to keep compiler happy
static bool verify_command(const AP_Mission::Mission_Command& cmd);
// called by update navigation at 10Hz
// --------------------
static void update_commands(void)
{
if(control_mode == AUTO) {
if (home_is_set != HOME_UNSET) {
if(mission.state() == AP_Mission::MISSION_RUNNING) {
mission.update();
} else {
// auto_rtl_command should have been set to MAV_CMD_NAV_LOITER_UNLIM by exit_mission
verify_command(auto_rtl_command);
}
}
}
}