Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-04 05:05:19 +08:00
Code Issues Actions 12 Packages Projects Releases Wiki Activity

mission: add NAV_CMD_DO_SET_ROI & NAV_CMD_ROI

Browse Source
This commit is contained in:
Beat Küng
2016-10-07 10:21:02 +02:00
committed by Lorenz Meier
parent 248cd45503
commit 55bff206be
4 changed files with 12 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink_mission.cpp
+4
View File
@@ -983,6 +983,8 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
case MAV_CMD_DO_DIGICAM_CONTROL:
case MAV_CMD_DO_MOUNT_CONFIGURE:
case MAV_CMD_DO_MOUNT_CONTROL:
case NAV_CMD_DO_SET_ROI:
case NAV_CMD_ROI:
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
case MAV_CMD_DO_VTOL_TRANSITION:
mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command;
@@ -1040,6 +1042,8 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *
case NAV_CMD_DO_DIGICAM_CONTROL:
case NAV_CMD_DO_MOUNT_CONFIGURE:
case NAV_CMD_DO_MOUNT_CONTROL:
case NAV_CMD_DO_SET_ROI:
case NAV_CMD_ROI:
case NAV_CMD_DO_SET_CAM_TRIGG_DIST:
case NAV_CMD_DO_VTOL_TRANSITION:
break;
src/modules/navigator/mission_block.cpp
+4
View File
@@ -106,6 +106,8 @@ MissionBlock::is_mission_item_reached()
case NAV_CMD_DO_DIGICAM_CONTROL:
case NAV_CMD_DO_MOUNT_CONFIGURE:
case NAV_CMD_DO_MOUNT_CONTROL:
case NAV_CMD_DO_SET_ROI:
case NAV_CMD_ROI:
case NAV_CMD_DO_SET_CAM_TRIGG_DIST:
return true;
@@ -404,6 +406,8 @@ MissionBlock::item_contains_position(const struct mission_item_s *item)
item->nav_cmd == NAV_CMD_DO_DIGICAM_CONTROL ||
item->nav_cmd == NAV_CMD_DO_MOUNT_CONFIGURE ||
item->nav_cmd == NAV_CMD_DO_MOUNT_CONTROL ||
item->nav_cmd == NAV_CMD_DO_SET_ROI ||
item->nav_cmd == NAV_CMD_ROI ||
item->nav_cmd == NAV_CMD_DO_SET_CAM_TRIGG_DIST ||
item->nav_cmd == NAV_CMD_DO_VTOL_TRANSITION) {
src/modules/navigator/mission_feasibility_checker.cpp
+2
View File
@@ -250,6 +250,8 @@ bool MissionFeasibilityChecker::checkMissionItemValidity(dm_item_t dm_current, s
missionitem.nav_cmd != NAV_CMD_DO_DIGICAM_CONTROL &&
missionitem.nav_cmd != NAV_CMD_DO_MOUNT_CONFIGURE &&
missionitem.nav_cmd != NAV_CMD_DO_MOUNT_CONTROL &&
missionitem.nav_cmd != NAV_CMD_DO_SET_ROI &&
missionitem.nav_cmd != NAV_CMD_ROI &&
missionitem.nav_cmd != NAV_CMD_DO_SET_CAM_TRIGG_DIST &&
missionitem.nav_cmd != NAV_CMD_DO_VTOL_TRANSITION) {
src/modules/navigator/navigation.h
+2
View File
@@ -59,11 +59,13 @@ enum NAV_CMD {
NAV_CMD_TAKEOFF = 22,
NAV_CMD_LOITER_TO_ALT = 31,
NAV_CMD_DO_FOLLOW_REPOSITION = 33,
NAV_CMD_ROI = 80,
NAV_CMD_VTOL_TAKEOFF = 84,
NAV_CMD_VTOL_LAND = 85,
NAV_CMD_DO_JUMP = 177,
NAV_CMD_DO_CHANGE_SPEED = 178,
NAV_CMD_DO_SET_SERVO=183,
NAV_CMD_DO_SET_ROI=201,
NAV_CMD_DO_DIGICAM_CONTROL=203,
NAV_CMD_DO_MOUNT_CONFIGURE=204,
NAV_CMD_DO_MOUNT_CONTROL=205,