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Merge remote-tracking branch 'upstream/master' into mtecs

This commit is contained in:
Thomas Gubler 2014-06-01 14:36:38 +02:00
parent a0d14b94af 8aeb327e7a
commit d7d1edfb9b
1 changed files with 3 additions and 3 deletions
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6
src/modules/mavlink/mavlink_main.cpp
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@ -896,6 +896,7 @@ int Mavlink::map_mavlink_mission_item_to_mission_item(const mavlink_mission_item
default:
mission_item->acceptance_radius = mavlink_mission_item->param2;
mission_item->time_inside = mavlink_mission_item->param1;
break;
}
@ -904,7 +905,6 @@ int Mavlink::map_mavlink_mission_item_to_mission_item(const mavlink_mission_item
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)mavlink_mission_item->command;
mission_item->time_inside = mavlink_mission_item->param1;
mission_item->autocontinue = mavlink_mission_item->autocontinue;
// mission_item->index = mavlink_mission_item->seq;
mission_item->origin = ORIGIN_MAVLINK;
@ -923,11 +923,12 @@ int Mavlink::map_mission_item_to_mavlink_mission_item(const struct mission_item_
switch (mission_item->nav_cmd) {
case NAV_CMD_TAKEOFF:
mavlink_mission_item->param2 = mission_item->pitch_min;
mavlink_mission_item->param1 = mission_item->pitch_min;
break;
default:
mavlink_mission_item->param2 = mission_item->acceptance_radius;
mavlink_mission_item->param1 = mission_item->time_inside;
break;
}
@ -938,7 +939,6 @@ int Mavlink::map_mission_item_to_mavlink_mission_item(const struct mission_item_
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 = mission_item->nav_cmd;
mavlink_mission_item->param1 = mission_item->time_inside;
mavlink_mission_item->autocontinue = mission_item->autocontinue;
// mavlink_mission_item->seq = mission_item->index;