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Mission: remove alt_in_cm from mavlink to cmd conversion

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This commit is contained in:
Randy Mackay 2014-03-04 21:15:43 +09:00
parent bc86a5043a
commit a6e422333e
2 changed files with 7 additions and 16 deletions
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19
libraries/AP_Mission/AP_Mission.cpp
View File

@ -368,7 +368,7 @@ void AP_Mission::write_home_to_storage()
// mavlink_to_mission_cmd - converts mavlink message to an AP_Mission::Mission_Command object which can be stored to eeprom
// return true on success, false on failure
bool AP_Mission::mavlink_to_mission_cmd(const mavlink_mission_item_t& packet, AP_Mission::Mission_Command& cmd, bool cmd_alt_in_cm)
bool AP_Mission::mavlink_to_mission_cmd(const mavlink_mission_item_t& packet, AP_Mission::Mission_Command& cmd)
{
bool copy_location = false;
bool copy_alt = false;
@ -513,10 +513,7 @@ bool AP_Mission::mavlink_to_mission_cmd(const mavlink_mission_item_t& packet, AP
cmd.content.location.lat = 1.0e7f * packet.x; // floating point latitude to int32_t
cmd.content.location.lng = 1.0e7f * packet.y; // floating point longitude to int32_t
}
cmd.content.location.alt = packet.z;
if (cmd_alt_in_cm) {
cmd.content.location.alt *= 100.0f; // convert packet's alt (m) to cmd alt (cm)
}
cmd.content.location.alt = packet.z * 100.0f; // convert packet's alt (m) to cmd alt (cm)
cmd.content.location.flags.relative_alt = 0;
break;
@ -525,10 +522,7 @@ bool AP_Mission::mavlink_to_mission_cmd(const mavlink_mission_item_t& packet, AP
cmd.content.location.lat = 1.0e7f * packet.x; // floating point latitude to int32_t
cmd.content.location.lng = 1.0e7f * packet.y; // floating point longitude to int32_t
}
cmd.content.location.alt = packet.z;
if (cmd_alt_in_cm) {
cmd.content.location.alt *= 100.0f; // convert packet's alt (m) to cmd alt (cm)
}
cmd.content.location.alt = packet.z * 100.0f; // convert packet's alt (m) to cmd alt (cm)
cmd.content.location.flags.relative_alt = 1;
break;
@ -568,7 +562,7 @@ bool AP_Mission::mavlink_to_mission_cmd(const mavlink_mission_item_t& packet, AP
// mission_cmd_to_mavlink - converts an AP_Mission::Mission_Command object to a mavlink message which can be sent to the GCS
// return true on success, false on failure
bool AP_Mission::mission_cmd_to_mavlink(const AP_Mission::Mission_Command& cmd, mavlink_mission_item_t& packet, bool cmd_alt_in_cm)
bool AP_Mission::mission_cmd_to_mavlink(const AP_Mission::Mission_Command& cmd, mavlink_mission_item_t& packet)
{
bool copy_location = false;
bool copy_alt = false;
@ -714,10 +708,7 @@ bool AP_Mission::mission_cmd_to_mavlink(const AP_Mission::Mission_Command& cmd,
packet.y = cmd.content.location.lng / 1.0e7f; // int32_t longitude to float
}
if (copy_location || copy_alt) {
packet.z = cmd.content.location.alt;
if (cmd_alt_in_cm) {
packet.z = cmd.content.location.alt / 100.0f; // cmd alt in cm to m
}
packet.z = cmd.content.location.alt / 100.0f; // cmd alt in cm to m
if (cmd.content.location.flags.relative_alt) {
packet.frame = MAV_FRAME_GLOBAL_RELATIVE_ALT;
}else{

4
libraries/AP_Mission/AP_Mission.h
View File

@ -179,11 +179,11 @@ public:
// mavlink_to_mission_cmd - converts mavlink message to an AP_Mission::Mission_Command object which can be stored to eeprom
// return true on success, false on failure
static bool mavlink_to_mission_cmd(const mavlink_mission_item_t& packet, AP_Mission::Mission_Command& cmd, bool cmd_alt_in_cm);
static bool mavlink_to_mission_cmd(const mavlink_mission_item_t& packet, AP_Mission::Mission_Command& cmd);
// mission_cmd_to_mavlink - converts an AP_Mission::Mission_Command object to a mavlink message which can be sent to the GCS
// return true on success, false on failure
static bool mission_cmd_to_mavlink(const AP_Mission::Mission_Command& cmd, mavlink_mission_item_t& packet, bool cmd_alt_in_cm);
static bool mission_cmd_to_mavlink(const AP_Mission::Mission_Command& cmd, mavlink_mission_item_t& packet);
// user settable parameters
static const struct AP_Param::GroupInfo var_info[];