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Waypoints: Get time inside WP radius right

This commit is contained in:
Julian Oes 2013-11-20 22:34:15 +01:00
parent f351afe3f6
commit b3c6574500
2 changed files with 3 additions and 3 deletions
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4
src/modules/mavlink/waypoints.c
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@ -76,7 +76,7 @@ void map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavl
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->radius = mavlink_mission_item->param1;
mission_item->time_inside = mavlink_mission_item->param2;
mission_item->time_inside = mavlink_mission_item->param2 / 1e3f; /* from milliseconds to seconds */
}
void map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, const uint16_t seq, mavlink_mission_item_t *mavlink_mission_item)
@ -89,7 +89,7 @@ void map_mission_item_to_mavlink_mission_item(const struct mission_item_s *missi
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->param1 = mission_item->radius;
mavlink_mission_item->param2 = mission_item->time_inside;
mavlink_mission_item->param2 = mission_item->time_inside * 1e3f; /* from seconds to milliseconds */
mavlink_mission_item->seq = seq;
}

2
src/modules/uORB/topics/mission.h
View File

@ -78,7 +78,7 @@ struct mission_item_s
int8_t loiter_direction; /**< 1: positive / clockwise, -1, negative. */
enum NAV_CMD nav_cmd; /**< true if loitering is enabled */
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 milliseconds */
float time_inside; /**< time that the MAV should stay inside the radius before advancing in seconds */
};
struct mission_s