mirror of https://github.com/ArduPilot/ardupilot
53 lines
2.4 KiB
C
53 lines
2.4 KiB
C
// Mission example:
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#define WP_RADIUS 5 // What is the minimum distance to reach a waypoint?
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#define ALT_TO_HOLD -1 // Altitude to hold above home in meters
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/* // Enter -1 to maintain current altitude when returning to home
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// The mission:
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float mission[][6] = {
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// CMD options P1 Alt Lat Long
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{MAV_CMD_NAV_TAKEOFF, 0, 0, 3.0, 0, 0}, // 1
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{MAV_CMD_NAV_WAYPOINT, 0, 0, 3.0, 40.065219, -105.209760}, // 2 turn 1
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{MAV_CMD_NAV_WAYPOINT, 0, 0, 3.0, 40.064561, -105.209798}, // 3 turn 2
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{MAV_CMD_NAV_WAYPOINT, 0, 0, 3.0, 40.064511, -105.210402}, // 4 turn 3
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{MAV_CMD_NAV_WAYPOINT, 0, 0, 3.0, 40.065167, -105.210453}, // 5 turn 4 with delay
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{MAV_CMD_NAV_WAYPOINT, 0, 5, 3.0, 40.065189, -105.210007}, // 6 Land WP with delay
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{MAV_CMD_NAV_LAND, 0, 0, 0, 0, 0}, // 7 LAND!
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};
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*/
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///*
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// Enter -1 to maintain current altitude when returning to home
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// The mission:
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float mission[][6] = {
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// CMD options P1 Alt Lat Long
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{MAV_CMD_NAV_TAKEOFF, 0, 0, 3.0, 0, 0}, // 1
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{MAV_CMD_NAV_WAYPOINT, 0, 0, 3.0, 40.065219, -105.209760}, // turn 1
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{MAV_CMD_NAV_WAYPOINT, 0, 4, 3.0, 40.064561, -105.209798}, // turn 2 pause
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{MAV_CMD_NAV_WAYPOINT, 0, 0, 3.0, 40.064508, -105.209808}, // turn 2
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{MAV_CMD_NAV_WAYPOINT, 0, 4, 3.0, 40.064507, -105.210303}, // turn 3 pause
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{MAV_CMD_NAV_WAYPOINT, 0, 0, 3.0, 40.064524, -105.210464}, // turn 3
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{MAV_CMD_NAV_WAYPOINT, 0, 1, 3.0, 40.065092, -105.210483}, // turn 4 pause
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{MAV_CMD_NAV_WAYPOINT, 0, 0, 3.0, 40.065191, -105.210349}, // turn 4
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{MAV_CMD_NAV_WAYPOINT, 0, 4, 3.0, 40.065189, -105.210007}, // Land WP with delay
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{MAV_CMD_NAV_LAND, 0, 0, 0, 0, 0}, // LAND!
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};
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//*/
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/*
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// The mission:
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float mission[][6] = {
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// CMD options P1 Alt Lat Long
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{MAV_CMD_NAV_TAKEOFF, 0, 0, 6.0, 0, 0}, // 1
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{MAV_CMD_NAV_WAYPOINT, 0, 0, 6.0, 40.065219, -105.209760}, // 2 turn 1
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{MAV_CMD_NAV_WAYPOINT, 0, 0, 6.0, 40.064561, -105.209798}, // 3 turn 2
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{MAV_CMD_NAV_WAYPOINT, 0, 0, 6.0, 40.064511, -105.210402}, // 4 turn 3
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{MAV_CMD_NAV_WAYPOINT, 0, 0, 6.0, 40.065167, -105.210453}, // 5 turn 4 with delay
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{MAV_CMD_NAV_WAYPOINT, 0, 5, 6.0, 40.065189, -105.210007}, // 6 Land WP with delay
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{MAV_CMD_NAV_LAND, 0, 0, 0, 0, 0}, // 7 LAND!
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};
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//*/ |