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px4-firmware
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Waypoints: reverse param1 and param2

This commit is contained in:
Julian Oes 2013-12-26 22:41:05 +01:00
parent 1c7e07d8d7
commit d3a71d1e42
1 changed files with 6 additions and 6 deletions
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12
src/modules/mavlink/waypoints.c
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@ -105,10 +105,10 @@ int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavli
switch (mavlink_mission_item->command) { switch (mavlink_mission_item->command) {
case MAV_CMD_NAV_TAKEOFF: case MAV_CMD_NAV_TAKEOFF:
mission_item->pitch_min = mavlink_mission_item->param1; mission_item->pitch_min = mavlink_mission_item->param2;
break; break;
default: default:
mission_item->radius = mavlink_mission_item->param1; mission_item->radius = mavlink_mission_item->param2;
break; break;
} }
@ -117,7 +117,7 @@ int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavli
mission_item->loiter_direction = (mavlink_mission_item->param3 > 0) ? 1 : -1; /* 1 if positive CW, -1 if negative CCW */ mission_item->loiter_direction = (mavlink_mission_item->param3 > 0) ? 1 : -1; /* 1 if positive CW, -1 if negative CCW */
mission_item->nav_cmd = mavlink_mission_item->command; mission_item->nav_cmd = mavlink_mission_item->command;
mission_item->time_inside = mavlink_mission_item->param2 / 1e3f; /* from milliseconds to seconds */ mission_item->time_inside = mavlink_mission_item->param1 / 1e3f; /* from milliseconds to seconds */
mission_item->autocontinue = mavlink_mission_item->autocontinue; mission_item->autocontinue = mavlink_mission_item->autocontinue;
mission_item->index = mavlink_mission_item->seq; mission_item->index = mavlink_mission_item->seq;
mission_item->origin = ORIGIN_MAVLINK; mission_item->origin = ORIGIN_MAVLINK;
@ -135,10 +135,10 @@ int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *missio
switch (mission_item->nav_cmd) { switch (mission_item->nav_cmd) {
case NAV_CMD_TAKEOFF: case NAV_CMD_TAKEOFF:
mavlink_mission_item->param1 = mission_item->pitch_min; mavlink_mission_item->param2 = mission_item->pitch_min;
break; break;
default: default:
mavlink_mission_item->param1 = mission_item->radius; mavlink_mission_item->param2 = mission_item->radius;
break; break;
} }
@ -149,7 +149,7 @@ int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *missio
mavlink_mission_item->param4 = mission_item->yaw*M_RAD_TO_DEG_F; 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->param3 = mission_item->loiter_radius*(float)mission_item->loiter_direction;
mavlink_mission_item->command = mission_item->nav_cmd; mavlink_mission_item->command = mission_item->nav_cmd;
mavlink_mission_item->param2 = mission_item->time_inside * 1e3f; /* from seconds to milliseconds */ mavlink_mission_item->param1 = mission_item->time_inside * 1e3f; /* from seconds to milliseconds */
mavlink_mission_item->autocontinue = mission_item->autocontinue; mavlink_mission_item->autocontinue = mission_item->autocontinue;
mavlink_mission_item->seq = mission_item->index; mavlink_mission_item->seq = mission_item->index;