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ArduCopter: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS

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This commit is contained in:
Peter Barker 2022-05-11 13:56:06 +10:00 committed by Andrew Tridgell
parent d5fdc2027f
commit 3bf0a21887
1 changed files with 6 additions and 1 deletions
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7
ArduCopter/mode_auto.cpp
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@ -1371,7 +1371,12 @@ void ModeAuto::do_circle(const AP_Mission::Mission_Command& cmd)
const Location circle_center = loc_from_cmd(cmd, copter.current_loc); const Location circle_center = loc_from_cmd(cmd, copter.current_loc);
// calculate radius // calculate radius
uint8_t circle_radius_m = HIGHBYTE(cmd.p1); // circle radius held in high byte of p1 uint16_t circle_radius_m = HIGHBYTE(cmd.p1); // circle radius held in high byte of p1
if (cmd.id == MAV_CMD_NAV_LOITER_TURNS &&
cmd.type_specific_bits & (1U << 0)) {
// special storage handling allows for larger radii
circle_radius_m *= 10;
}
// move to edge of circle (verify_circle) will ensure we begin circling once we reach the edge // move to edge of circle (verify_circle) will ensure we begin circling once we reach the edge
circle_movetoedge_start(circle_center, circle_radius_m); circle_movetoedge_start(circle_center, circle_radius_m);