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AP_Mission: removed use of MAV_CMD_NAV_VELOCITY and MAV_CMD_NAV_GUIDED

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Andrew Tridgell 2014-07-24 20:37:53 +10:00
parent 0f24c43b0c
commit feaf9751cc
1 changed files with 10 additions and 2 deletions
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12
libraries/AP_Mission/AP_Mission.cpp
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@ -493,19 +493,23 @@ bool AP_Mission::mavlink_to_mission_cmd(const mavlink_mission_item_t& packet, AP
cmd.p1 = packet.param1; // delay at waypoint in seconds
break;
case MAV_CMD_NAV_GUIDED: // MAV ID: 90
#ifdef MAV_CMD_NAV_GUIDED
case MAV_CMD_NAV_GUIDED: // MAV ID: 90
cmd.p1 = packet.param1; // max time in seconds the external controller will be allowed to control the vehicle
cmd.content.nav_guided.alt_min = packet.param2; // min alt below which the command will be aborted. 0 for no lower alt limit
cmd.content.nav_guided.alt_max = packet.param3; // max alt above which the command will be aborted. 0 for no upper alt limit
cmd.content.nav_guided.horiz_max = packet.param4; // max horizontal distance the vehicle can move before the command will be aborted. 0 for no horizontal limit
break;
#endif
#ifdef MAV_CMD_NAV_VELOCITY
case MAV_CMD_NAV_VELOCITY: // MAV ID: 91
cmd.p1 = packet.param1; // frame - unused
cmd.content.nav_velocity.x = packet.x; // lat (i.e. north) velocity in m/s
cmd.content.nav_velocity.y = packet.y; // lon (i.e. east) velocity in m/s
cmd.content.nav_velocity.z = packet.z; // vertical (i.e. up) velocity in m/s
break;
#endif
case MAV_CMD_CONDITION_DELAY: // MAV ID: 112
cmd.content.delay.seconds = packet.param1; // delay in seconds
@ -733,19 +737,23 @@ bool AP_Mission::mission_cmd_to_mavlink(const AP_Mission::Mission_Command& cmd,
packet.param1 = cmd.p1; // delay at waypoint in seconds
break;
case MAV_CMD_NAV_GUIDED: // MAV ID: 90
#ifdef MAV_CMD_NAV_GUIDED
case MAV_CMD_NAV_GUIDED: // MAV ID: 90
packet.param1 = cmd.p1; // max time in seconds the external controller will be allowed to control the vehicle
packet.param2 = cmd.content.nav_guided.alt_min; // min alt below which the command will be aborted. 0 for no lower alt limit
packet.param3 = cmd.content.nav_guided.alt_max; // max alt above which the command will be aborted. 0 for no upper alt limit
packet.param4 = cmd.content.nav_guided.horiz_max; // max horizontal distance the vehicle can move before the command will be aborted. 0 for no horizontal limit
break;
#endif
#ifdef MAV_CMD_NAV_VELOCITY
case MAV_CMD_NAV_VELOCITY: // MAV ID: 91
packet.param1 = cmd.p1; // frame - unused
packet.x = cmd.content.nav_velocity.x; // lat (i.e. north) velocity in m/s
packet.y = cmd.content.nav_velocity.y; // lon (i.e. east) velocity in m/s
packet.z = cmd.content.nav_velocity.z; // vertical (i.e. up) velocity in m/s
break;
#endif
case MAV_CMD_CONDITION_DELAY: // MAV ID: 112
packet.param1 = cmd.content.delay.seconds; // delay in seconds