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Mission topic: make nav_cmd compatible to the mavlink command

This commit is contained in:
Julian Oes 2013-11-22 21:21:30 +01:00
parent 1da7599541
commit 01df715f94
2 changed files with 13 additions and 10 deletions
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4
src/modules/mavlink/waypoints.c
View File

@ -78,7 +78,7 @@ void map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavl
mission_item->yaw = mavlink_mission_item->param4*M_DEG_TO_RAD_F;
mission_item->loiter_radius = fabsf(mavlink_mission_item->param3);
mission_item->loiter_direction = (mavlink_mission_item->param3 > 0) ? 1 : -1; /* 1 if positive CW, -1 if negative CCW */
mission_item->nav_cmd = NAV_CMD_WAYPOINT; // TODO correct
mission_item->nav_cmd = mavlink_mission_item->command;
mission_item->radius = mavlink_mission_item->param1;
mission_item->time_inside = mavlink_mission_item->param2 / 1e3f; /* from milliseconds to seconds */
mission_item->autocontinue = mavlink_mission_item->autocontinue;
@ -93,7 +93,7 @@ void map_mission_item_to_mavlink_mission_item(const struct mission_item_s *missi
mavlink_mission_item->z = mission_item->altitude;
mavlink_mission_item->param4 = mission_item->yaw*M_RAD_TO_DEG_F;
mavlink_mission_item->param3 = mission_item->loiter_radius*(float)mission_item->loiter_direction;
mavlink_mission_item->command = MAV_CMD_NAV_WAYPOINT; // TODO add
mavlink_mission_item->command = mission_item->nav_cmd;
mavlink_mission_item->param1 = mission_item->radius;
mavlink_mission_item->param2 = mission_item->time_inside * 1e3f; /* from seconds to milliseconds */
mavlink_mission_item->autocontinue = mission_item->autocontinue;

19
src/modules/uORB/topics/mission.h
View File

@ -46,14 +46,17 @@
#include <stdbool.h>
#include "../uORB.h"
/* compatible to mavlink MAV_CMD */
enum NAV_CMD {
NAV_CMD_WAYPOINT = 0,
NAV_CMD_LOITER_TURN_COUNT,
NAV_CMD_LOITER_TIME_LIMIT,
NAV_CMD_LOITER_UNLIMITED,
NAV_CMD_RETURN_TO_LAUNCH,
NAV_CMD_LAND,
NAV_CMD_TAKEOFF
NAV_CMD_WAYPOINT=16,
NAV_CMD_LOITER_UNLIMITED=17,
NAV_CMD_LOITER_TURN_COUNT=18,
NAV_CMD_LOITER_TIME_LIMIT=19,
NAV_CMD_RETURN_TO_LAUNCH=20,
NAV_CMD_LAND=21,
NAV_CMD_TAKEOFF=22,
NAV_CMD_ROI=80,
NAV_CMD_PATHPLANNING=81
};
/**
@ -76,7 +79,7 @@ struct mission_item_s
float yaw; /**< in radians NED -PI..+PI */
float loiter_radius; /**< loiter radius in meters, 0 for a VTOL to hover */
int8_t loiter_direction; /**< 1: positive / clockwise, -1, negative. */
enum NAV_CMD nav_cmd; /**< true if loitering is enabled */
enum NAV_CMD nav_cmd; /**< navigation command */
float radius; /**< radius in which the mission is accepted as reached in meters */
float time_inside; /**< time that the MAV should stay inside the radius before advancing in seconds */
bool autocontinue; /**< true if next waypoint should follow after this one */