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Rover: use common location options masks

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This commit is contained in:
Randy Mackay 2014-02-28 15:56:45 +09:00
parent e88f1953d0
commit 26b82cf0a3
3 changed files with 8 additions and 12 deletions
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10
APMrover2/GCS_Mavlink.pde
View File

@ -1273,7 +1273,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// set frame of waypoint
uint8_t frame;
if (tell_command.options & MASK_OPTIONS_RELATIVE_ALT) {
if (tell_command.options & LOCATION_MASK_OPTIONS_RELATIVE_ALT) {
frame = MAV_FRAME_GLOBAL_RELATIVE_ALT; // reference frame
} else {
frame = MAV_FRAME_GLOBAL; // reference frame
@ -1560,7 +1560,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
(radius_of_earth*cosf(ToRad(home.lat/1.0e7f)))) + home.lat;
tell_command.lng = 1.0e7f*ToDeg(packet.y/radius_of_earth) + home.lng;
tell_command.alt = -packet.z*1.0e2f;
tell_command.options = MASK_OPTIONS_RELATIVE_ALT;
tell_command.options = LOCATION_MASK_OPTIONS_RELATIVE_ALT;
break;
}
#endif
@ -1572,7 +1572,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
(radius_of_earth*cosf(ToRad(home.lat/1.0e7f)))) + home.lat;
tell_command.lng = 1.0e7f*ToDeg(packet.y/radius_of_earth) + home.lng;
tell_command.alt = packet.z*1.0e2f;
tell_command.options = MASK_OPTIONS_RELATIVE_ALT;
tell_command.options = LOCATION_MASK_OPTIONS_RELATIVE_ALT;
break;
}
#endif
@ -1582,7 +1582,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
tell_command.lat = 1.0e7f * packet.x; // in as DD converted to * t7
tell_command.lng = 1.0e7f * packet.y; // in as DD converted to * t7
tell_command.alt = packet.z * 1.0e2f;
tell_command.options = MASK_OPTIONS_RELATIVE_ALT; // store altitude relative!! Always!!
tell_command.options = LOCATION_MASK_OPTIONS_RELATIVE_ALT; // store altitude relative!! Always!!
break;
}
@ -1659,7 +1659,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
guided_WP = tell_command;
// add home alt if needed
if (guided_WP.options & MASK_OPTIONS_RELATIVE_ALT){
if (guided_WP.options & LOCATION_MASK_OPTIONS_RELATIVE_ALT){
guided_WP.alt += home.alt;
}

6
APMrover2/commands.pde
View File

@ -56,7 +56,7 @@ static struct Location get_cmd_with_index(int i)
}
// Add on home altitude if we are a nav command (or other command with altitude) and stored alt is relative
if((temp.id < MAV_CMD_NAV_LAST || temp.id == MAV_CMD_CONDITION_CHANGE_ALT) && temp.options & MASK_OPTIONS_RELATIVE_ALT){
if((temp.id < MAV_CMD_NAV_LAST || temp.id == MAV_CMD_CONDITION_CHANGE_ALT) && temp.options & LOCATION_MASK_OPTIONS_RELATIVE_ALT){
temp.alt += home.alt;
}
@ -72,8 +72,8 @@ static void set_cmd_with_index(struct Location temp, int i)
// Set altitude options bitmask
// XXX What is this trying to do?
if ((temp.options & MASK_OPTIONS_RELATIVE_ALT) && i != 0){
temp.options = MASK_OPTIONS_RELATIVE_ALT;
if ((temp.options & LOCATION_MASK_OPTIONS_RELATIVE_ALT) && i != 0){
temp.options = LOCATION_MASK_OPTIONS_RELATIVE_ALT;
} else {
temp.options = 0;
}

4
APMrover2/defines.h
View File

@ -66,10 +66,6 @@ enum mode {
#define NO_COMMAND 0
#define WAIT_COMMAND 255
// Command/Waypoint/Location Options Bitmask
//--------------------
#define MASK_OPTIONS_RELATIVE_ALT (1<<0) // 1 = Relative altitude
//repeating events
#define NO_REPEAT 0
#define CH_5_TOGGLE 1