forked from Archive/PX4-Autopilot
Waypoints: reverse param1 and param2
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@ -105,10 +105,10 @@ int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavli
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switch (mavlink_mission_item->command) {
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case MAV_CMD_NAV_TAKEOFF:
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mission_item->pitch_min = mavlink_mission_item->param1;
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mission_item->pitch_min = mavlink_mission_item->param2;
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break;
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default:
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mission_item->radius = mavlink_mission_item->param1;
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mission_item->radius = mavlink_mission_item->param2;
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break;
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}
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@ -117,7 +117,7 @@ int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavli
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mission_item->loiter_direction = (mavlink_mission_item->param3 > 0) ? 1 : -1; /* 1 if positive CW, -1 if negative CCW */
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mission_item->nav_cmd = mavlink_mission_item->command;
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mission_item->time_inside = mavlink_mission_item->param2 / 1e3f; /* from milliseconds to seconds */
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mission_item->time_inside = mavlink_mission_item->param1 / 1e3f; /* from milliseconds to seconds */
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mission_item->autocontinue = mavlink_mission_item->autocontinue;
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mission_item->index = mavlink_mission_item->seq;
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mission_item->origin = ORIGIN_MAVLINK;
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@ -135,10 +135,10 @@ int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *missio
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switch (mission_item->nav_cmd) {
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case NAV_CMD_TAKEOFF:
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mavlink_mission_item->param1 = mission_item->pitch_min;
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mavlink_mission_item->param2 = mission_item->pitch_min;
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break;
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default:
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mavlink_mission_item->param1 = mission_item->radius;
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mavlink_mission_item->param2 = mission_item->radius;
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break;
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}
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@ -149,7 +149,7 @@ int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *missio
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mavlink_mission_item->param4 = mission_item->yaw*M_RAD_TO_DEG_F;
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mavlink_mission_item->param3 = mission_item->loiter_radius*(float)mission_item->loiter_direction;
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mavlink_mission_item->command = mission_item->nav_cmd;
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mavlink_mission_item->param2 = mission_item->time_inside * 1e3f; /* from seconds to milliseconds */
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mavlink_mission_item->param1 = mission_item->time_inside * 1e3f; /* from seconds to milliseconds */
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mavlink_mission_item->autocontinue = mission_item->autocontinue;
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mavlink_mission_item->seq = mission_item->index;
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