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Copter: use guided_posvel for set_position_target messages

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Jonathan Challinger 2014-12-04 09:54:30 -08:00 committed by Randy Mackay
parent bc29008233
commit 474456e349
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/GCS_Mavlink.pde
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@ -1328,7 +1328,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
*/
if (!pos_ignore && !vel_ignore && acc_ignore) {
guided_set_destination_spline(Vector3f(packet.x * 100.0f, packet.y * 100.0f, -packet.z * 100.0f), Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f));
guided_set_destination_posvel(Vector3f(packet.x * 100.0f, packet.y * 100.0f, -packet.z * 100.0f), Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f));
} else if (pos_ignore && !vel_ignore && acc_ignore) {
guided_set_velocity(Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f));
} else if (!pos_ignore && vel_ignore && acc_ignore) {
@ -1391,7 +1391,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
}
if (!pos_ignore && !vel_ignore && acc_ignore) {
guided_set_destination_spline(pos_ned, Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f));
guided_set_destination_posvel(pos_ned, Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f));
} else if (pos_ignore && !vel_ignore && acc_ignore) {
guided_set_velocity(Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f));
} else if (!pos_ignore && vel_ignore && acc_ignore) {