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Merge pull request #381 from PX4/waypoint_loiter 

Have systems loiter at the last waypoint
This commit is contained in:
Lorenz Meier 2013-09-07 09:50:37 -07:00
parent b599a32c16 127832b8fd
commit 751c026469
2 changed files with 7 additions and 5 deletions
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6
src/modules/mavlink/missionlib.c
View File

@ -167,9 +167,9 @@ bool set_special_fields(float param1, float param2, float param3, float param4,
sp->loiter_direction = (param3 >= 0) ? 1 : -1;
sp->param1 = param1;
sp->param1 = param2;
sp->param1 = param3;
sp->param1 = param4;
sp->param2 = param2;
sp->param3 = param3;
sp->param4 = param4;
}
/**

6
src/modules/mavlink/waypoints.c
View File

@ -417,6 +417,7 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_
}
if (time_elapsed) {
if (cur_wp->autocontinue) {
cur_wp->current = 0;
@ -425,9 +426,10 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_
if (wpm->current_active_wp_id == wpm->size - 1 && wpm->size > 1) {
/* the last waypoint was reached, if auto continue is
* activated restart the waypoint list from the beginning
* activated keep the system loitering there.
*/
wpm->current_active_wp_id = 0;
cur_wp->command = MAV_CMD_NAV_LOITER_UNLIM;
cur_wp->param3 = 15.0f; // XXX magic number 15 m loiter radius
} else {
if ((uint16_t)(wpm->current_active_wp_id + 1) < wpm->size)