From d771017c251d2f55d640e50c61f864f862fcb212 Mon Sep 17 00:00:00 2001
From: Niti Rohilla <niti.rohilla@tcs.com>
Date: Mon, 18 Apr 2016 12:42:40 +0530
Subject: [PATCH] AP_Mission: support MAV_CMD_NAV_DELAY command

---
 libraries/AP_Mission/AP_Mission.cpp | 14 ++++++++++++++
 libraries/AP_Mission/AP_Mission.h   | 11 +++++++++++
 2 files changed, 25 insertions(+)

diff --git a/libraries/AP_Mission/AP_Mission.cpp b/libraries/AP_Mission/AP_Mission.cpp
index 089af90be1..5bb2d93c45 100644
--- a/libraries/AP_Mission/AP_Mission.cpp
+++ b/libraries/AP_Mission/AP_Mission.cpp
@@ -585,6 +585,13 @@ MAV_MISSION_RESULT AP_Mission::mavlink_int_to_mission_cmd(const mavlink_mission_
         cmd.p1 = packet.param1;                         // on/off. >0.5 means "on", hand-over control to external controller
         break;
 
+    case MAV_CMD_NAV_DELAY:                            // MAV ID: 94
+        cmd.content.nav_delay.seconds = packet.param1; // delay in seconds
+        cmd.content.nav_delay.hour_utc = packet.param2;// absolute time's hour (utc)
+        cmd.content.nav_delay.min_utc = packet.param3;// absolute time's min (utc)
+        cmd.content.nav_delay.sec_utc = packet.param4; // absolute time's second (utc)
+        break;
+
     case MAV_CMD_CONDITION_DELAY:                       // MAV ID: 112
         cmd.content.delay.seconds = packet.param1;      // delay in seconds
         break;
@@ -1007,6 +1014,13 @@ bool AP_Mission::mission_cmd_to_mavlink_int(const AP_Mission::Mission_Command& c
         packet.param1 = cmd.p1;                         // on/off. >0.5 means "on", hand-over control to external controller
         break;
 
+    case MAV_CMD_NAV_DELAY:                            // MAV ID: 94
+        packet.param1 = cmd.content.nav_delay.seconds; // delay in seconds
+        packet.param2 = cmd.content.nav_delay.hour_utc; // absolute time's day of week (utc)
+        packet.param3 = cmd.content.nav_delay.min_utc; // absolute time's hour (utc)
+        packet.param4 = cmd.content.nav_delay.sec_utc; // absolute time's min (utc)
+        break;
+
     case MAV_CMD_CONDITION_DELAY:                       // MAV ID: 112
         packet.param1 = cmd.content.delay.seconds;      // delay in seconds
         break;
diff --git a/libraries/AP_Mission/AP_Mission.h b/libraries/AP_Mission/AP_Mission.h
index 3a931b91d2..6e6af7a83d 100644
--- a/libraries/AP_Mission/AP_Mission.h
+++ b/libraries/AP_Mission/AP_Mission.h
@@ -161,6 +161,14 @@ public:
         uint8_t target_state;
     };
 
+     // navigation delay command structure
+    struct PACKED Navigation_Delay_Command {
+        float seconds; // period of delay in seconds
+        int8_t hour_utc; // absolute time's hour (utc)
+        int8_t min_utc; // absolute time's min (utc)
+        int8_t sec_utc; // absolute time's sec (utc)
+    };
+
     union PACKED Content {
         // jump structure
         Jump_Command jump;
@@ -216,6 +224,9 @@ public:
         // location
         Location location;      // Waypoint location
 
+        // navigation delay
+        Navigation_Delay_Command nav_delay;
+
         // raw bytes, for reading/writing to eeprom. Note that only 10 bytes are available
         // if a 16 bit command ID is used
         uint8_t bytes[12];