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Merge pull request #3660 from PX4/mavlink_frame_fix

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Mavlink read back frame fix
This commit is contained in:
Lorenz Meier
2016-02-03 13:09:06 +01:00
parent 0aff2e6c09 f0bad06bfd
commit 80c532acf1
2 changed files with 9 additions and 0 deletions
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8
src/modules/mavlink/mavlink_mission.cpp
View File

@@ -856,15 +856,23 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *
break;
case NAV_CMD_DO_SET_SERVO:
mavlink_mission_item->frame = MAV_FRAME_MISSION;
mavlink_mission_item->param1 = mission_item->actuator_num;
mavlink_mission_item->param2 = mission_item->actuator_value;
break;
case NAV_CMD_DO_JUMP:
mavlink_mission_item->frame = MAV_FRAME_MISSION;
mavlink_mission_item->param1 = mission_item->do_jump_mission_index;
mavlink_mission_item->param2 = mission_item->do_jump_repeat_count - mission_item->do_jump_current_count;
break;
case NAV_CMD_DO_VTOL_TRANSITION:
mavlink_mission_item->frame = MAV_FRAME_MISSION;
mavlink_mission_item->param1 = mission_item->params[0];
break;
default:
mavlink_mission_item->param2 = mission_item->acceptance_radius;
mavlink_mission_item->param1 = mission_item->time_inside;

1
src/modules/navigator/navigation.h
View File

@@ -64,6 +64,7 @@ enum NAV_CMD {
NAV_CMD_DO_JUMP = 177,
NAV_CMD_DO_SET_SERVO=183,
NAV_CMD_DO_REPEAT_SERVO=184,
NAV_CMD_DO_VTOL_TRANSITION=3000,
NAV_CMD_INVALID=UINT16_MAX /* ensure that casting a large number results in a specific error */
};