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Plane: add AP_Mission object to parameter list

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This commit is contained in:
Randy Mackay 2014-03-03 22:47:58 +09:00
parent 04166c1686
commit fdaf3fc177
2 changed files with 7 additions and 18 deletions
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7
ArduPlane/Parameters.h
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@ -154,6 +154,7 @@ public:
k_param_airspeed, // AP_Airspeed parameters k_param_airspeed, // AP_Airspeed parameters
k_param_curr_amp_offset, k_param_curr_amp_offset,
k_param_NavEKF, // Extended Kalman Filter Inertial Navigation Group k_param_NavEKF, // Extended Kalman Filter Inertial Navigation Group
k_param_mission, // mission library
// //
// 150: Navigation parameters // 150: Navigation parameters
@ -242,8 +243,8 @@ public:
// 220: Waypoint data // 220: Waypoint data
// //
k_param_waypoint_mode = 220, k_param_waypoint_mode = 220,
k_param_command_total, k_param_command_total, // unused
k_param_command_index, k_param_command_index, // unused
k_param_waypoint_radius, k_param_waypoint_radius,
k_param_loiter_radius, k_param_loiter_radius,
k_param_fence_action, k_param_fence_action,
@ -325,8 +326,6 @@ public:
// Waypoints // Waypoints
// //
AP_Int8 waypoint_mode; AP_Int8 waypoint_mode;
AP_Int8 command_total;
AP_Int8 command_index;
AP_Int16 waypoint_radius; AP_Int16 waypoint_radius;
AP_Int16 waypoint_max_radius; AP_Int16 waypoint_max_radius;
AP_Int16 loiter_radius; AP_Int16 loiter_radius;

18
ArduPlane/Parameters.pde
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@ -198,20 +198,6 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Advanced // @User: Advanced
GSCALAR(alt_offset, "ALT_OFFSET", 0), GSCALAR(alt_offset, "ALT_OFFSET", 0),
// @Param: CMD_TOTAL
// @DisplayName: Number of loaded mission items
// @Description: The number of mission mission items that has been loaded by the ground station. Do not change this manually.
// @Range: 1 255
// @User: Advanced
GSCALAR(command_total, "CMD_TOTAL", 0),
// @Param: CMD_INDEX
// @DisplayName: Current mission command index
// @Description: The index of the currently running mission item. Do not change this manually.
// @Range: 1 255
// @User: Advanced
GSCALAR(command_index, "CMD_INDEX", 0),
// @Param: WP_RADIUS // @Param: WP_RADIUS
// @DisplayName: Waypoint Radius // @DisplayName: Waypoint Radius
// @Description: Defines the distance from a waypoint that when crossed indicates the waypoint has been completed. To avoid the aircraft looping around the waypoint in case it misses by more than the WP_RADIUS an additional check is made to see if the aircraft has crossed a "finish line" passing through the waypoint and perpendicular to the flight path from the previous waypoint. If that finish line is crossed then the waypoint is considered complete. // @Description: Defines the distance from a waypoint that when crossed indicates the waypoint has been completed. To avoid the aircraft looping around the waypoint in case it misses by more than the WP_RADIUS an additional check is made to see if the aircraft has crossed a "finish line" passing through the waypoint and perpendicular to the flight path from the previous waypoint. If that finish line is crossed then the waypoint is considered complete.
@ -979,6 +965,10 @@ const AP_Param::Info var_info[] PROGMEM = {
GOBJECTN(ahrs.get_NavEKF(), NavEKF, "EKF_", NavEKF), GOBJECTN(ahrs.get_NavEKF(), NavEKF, "EKF_", NavEKF),
#endif #endif
// @Group: MIS_
// @Path: ../libraries/AP_Mission/AP_Mission.cpp
GOBJECT(mission, "MIS_", AP_Mission),
AP_VAREND AP_VAREND
}; };