From 9bd8e215b2e233c52854d88a11cb1f6a93bb9008 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Thu, 14 Aug 2014 16:03:01 +1000 Subject: [PATCH] AP_Mission: enable DO_AUTOTUNE_ENABLE --- libraries/AP_Mission/AP_Mission.cpp | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/libraries/AP_Mission/AP_Mission.cpp b/libraries/AP_Mission/AP_Mission.cpp index f9f812cf2d..bced37fdb2 100644 --- a/libraries/AP_Mission/AP_Mission.cpp +++ b/libraries/AP_Mission/AP_Mission.cpp @@ -672,7 +672,11 @@ bool AP_Mission::mavlink_to_mission_cmd(const mavlink_mission_item_t& packet, AP cmd.content.guided_limits.alt_max = packet.param3; // max alt above which the command will be aborted. 0 for no upper alt limit cmd.content.guided_limits.horiz_max = packet.param4;// max horizontal distance the vehicle can move before the command will be aborted. 0 for no horizontal limit - case MAV_CMD_NAV_ALTITUDE_WAIT: + case MAV_CMD_DO_AUTOTUNE_ENABLE: // MAV ID: 211 + cmd.p1 = packet.param1; // disable=0 enable=1 + break; + + case MAV_CMD_NAV_ALTITUDE_WAIT: // MAV ID: 83 cmd.content.altitude_wait.altitude = packet.param1; cmd.content.altitude_wait.descent_rate = packet.param2; cmd.content.altitude_wait.wiggle_time = packet.param3; @@ -980,7 +984,11 @@ bool AP_Mission::mission_cmd_to_mavlink(const AP_Mission::Mission_Command& cmd, packet.param3 = cmd.content.guided_limits.alt_max; // max alt above which the command will be aborted. 0 for no upper alt limit packet.param4 = cmd.content.guided_limits.horiz_max;// max horizontal distance the vehicle can move before the command will be aborted. 0 for no horizontal limit - case MAV_CMD_NAV_ALTITUDE_WAIT: + case MAV_CMD_DO_AUTOTUNE_ENABLE: + packet.param1 = cmd.p1; // disable=0 enable=1 + break; + + case MAV_CMD_NAV_ALTITUDE_WAIT: // MAV ID: 83 packet.param1 = cmd.content.altitude_wait.altitude; packet.param2 = cmd.content.altitude_wait.descent_rate; packet.param3 = cmd.content.altitude_wait.wiggle_time;