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Mission: handle Loiter direction

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loiter-unlimited, loiter-turns and loiter-time cms specify the turn
direction in Param3.  This is stored in the location's loiter_ccw flag.
Previously supported only in Plane, moving here allows us to share more
code with Plane, Copter, Rover.
This commit is contained in:
Randy Mackay 2014-03-18 16:32:28 +09:00
parent 85725de9cb
commit 37cff752c8
1 changed files with 15 additions and 0 deletions
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15
libraries/AP_Mission/AP_Mission.cpp
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@ -642,16 +642,31 @@ bool AP_Mission::mission_cmd_to_mavlink(const AP_Mission::Mission_Command& cmd,
case MAV_CMD_NAV_LOITER_UNLIM: // MAV ID: 17
copy_location = true;
if (cmd.content.location.flags.loiter_ccw) {
packet.param3 = -1;
}else{
packet.param3 = 1;
}
break;
case MAV_CMD_NAV_LOITER_TURNS: // MAV ID: 18
copy_location = true;
packet.param1 = cmd.p1; // number of times to circle is held in location.p1
if (cmd.content.location.flags.loiter_ccw) {
packet.param3 = -1;
}else{
packet.param3 = 1;
}
break;
case MAV_CMD_NAV_LOITER_TIME: // MAV ID: 19
copy_location = true;
packet.param1 = cmd.p1; // loiter time in seconds
if (cmd.content.location.flags.loiter_ccw) {
packet.param3 = -1;
}else{
packet.param3 = 1;
}
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH: // MAV ID: 20