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Copter: removed use of removed MAV_CMD_NAV_ commands

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This commit is contained in:
Andrew Tridgell 2014-07-24 20:38:00 +10:00
parent feaf9751cc
commit e9fedbdb79
1 changed files with 7 additions and 1 deletions
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8
ArduCopter/commands_logic.pde
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@ -75,9 +75,11 @@ static bool start_command(const AP_Mission::Mission_Command& cmd)
break; break;
#if NAV_GUIDED == ENABLED #if NAV_GUIDED == ENABLED
case MAV_CMD_NAV_GUIDED: // 90 accept navigation commands from external nav computer #ifdef MAV_CMD_NAV_GUIDED
case MAV_CMD_NAV_GUIDED: // 90 accept navigation commands from external nav computer
do_nav_guided(cmd); do_nav_guided(cmd);
break; break;
#endif
#endif #endif
// //
@ -221,9 +223,11 @@ static bool verify_command(const AP_Mission::Mission_Command& cmd)
break; break;
#if NAV_GUIDED == ENABLED #if NAV_GUIDED == ENABLED
#ifdef MAV_CMD_NAV_GUIDED
case MAV_CMD_NAV_GUIDED: case MAV_CMD_NAV_GUIDED:
return verify_nav_guided(cmd); return verify_nav_guided(cmd);
break; break;
#endif
#endif #endif
/// ///
@ -852,6 +856,7 @@ static bool do_guided(const AP_Mission::Mission_Command& cmd)
return true; return true;
break; break;
#ifdef MAV_CMD_NAV_VELOCITY
case MAV_CMD_NAV_VELOCITY: case MAV_CMD_NAV_VELOCITY:
// set target velocity // set target velocity
pos_or_vel.x = cmd.content.nav_velocity.x * 100.0f; pos_or_vel.x = cmd.content.nav_velocity.x * 100.0f;
@ -860,6 +865,7 @@ static bool do_guided(const AP_Mission::Mission_Command& cmd)
guided_set_velocity(pos_or_vel); guided_set_velocity(pos_or_vel);
return true; return true;
break; break;
#endif
case MAV_CMD_CONDITION_YAW: case MAV_CMD_CONDITION_YAW:
do_yaw(cmd); do_yaw(cmd);