aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_Common: 1of3 add loiter_xtrack option flag for post-loiter navigation

Browse Source 
0 to crosstrack from center of waypoint, 1 to crosstrack from tangent exit location
This commit is contained in:
Tom Pittenger 2016-03-14 11:42:28 -07:00
parent 2246343ec7
commit 02eeb2d4f0
1 changed files with 2 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
libraries/AP_Common/AP_Common.h
View File

@ -76,7 +76,7 @@ char (&_ARRAY_SIZE_HELPER(T (&_arr)[0]))[0];
/// bit 2: Direction of loiter command 0: Clockwise 1: Counter-Clockwise
/// bit 3: Req.to hit WP.alt to continue 0: No, 1: Yes
/// bit 4: Relative to Home 0: No, 1: Yes
/// bit 5:
/// bit 5: Loiter crosstrack reference 0: WP center 1: Tangent exit point
/// bit 6:
/// bit 7: Move to next Command 0: YES, 1: Loiter until commanded
@ -88,6 +88,7 @@ struct PACKED Location_Option_Flags {
uint8_t loiter_ccw : 1; // 0 if clockwise, 1 if counter clockwise
uint8_t terrain_alt : 1; // this altitude is above terrain
uint8_t origin_alt : 1; // this altitude is above ekf origin
uint8_t loiter_xtrack : 1; // 0 to crosstrack from center of waypoint, 1 to crosstrack from tangent exit location
};
struct PACKED Location {