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Copter: bug fix to ROI to pull target from conditional command queue

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This commit is contained in:
Randy Mackay 2013-07-14 17:36:27 +09:00
parent f1969d5662
commit 47ab02d686
2 changed files with 6 additions and 4 deletions
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2
ArduCopter/GCS_Mavlink.pde
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@ -1379,6 +1379,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
case MAV_CMD_NAV_ROI:
case MAV_CMD_DO_SET_ROI:
param1 = tell_command.p1; // MAV_ROI (aka roi mode) is held in wp's parameter but we actually do nothing with it because we only support pointing at a specific location provided by x,y and z parameters
break;
@ -1675,6 +1676,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
case MAV_CMD_NAV_ROI:
case MAV_CMD_DO_SET_ROI:
tell_command.p1 = packet.param1; // MAV_ROI (aka roi mode) is held in wp's parameter but we actually do nothing with it because we only support pointing at a specific location provided by x,y and z parameters
break;

8
ArduCopter/commands_logic.pde
View File

@ -1005,12 +1005,12 @@ static void do_roi()
#if MOUNT == ENABLED
// check if mount type requires us to rotate the quad
if( camera_mount.get_mount_type() != AP_Mount::k_pan_tilt && camera_mount.get_mount_type() != AP_Mount::k_pan_tilt_roll ) {
yaw_look_at_WP = pv_location_to_vector(command_nav_queue);
yaw_look_at_WP = pv_location_to_vector(command_cond_queue);
set_yaw_mode(YAW_LOOK_AT_LOCATION);
}
// send the command to the camera mount
camera_mount.set_roi_cmd(&command_nav_queue);
camera_mount.set_roi_cmd(&command_cond_queue);
// TO-DO: expand handling of the do_nav_roi to support all modes of the MAVLink. Currently we only handle mode 4 (see below)
// 0: do nothing
// 1: point at next waypoint
@ -1019,7 +1019,7 @@ static void do_roi()
// 4: point at a target given a target id (can't be implemented)
#else
// if we have no camera mount aim the quad at the location
yaw_look_at_WP = pv_location_to_vector(command_nav_queue);
yaw_look_at_WP = pv_location_to_vector(command_cond_queue);
set_yaw_mode(YAW_LOOK_AT_LOCATION);
#endif
}