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