From b36c1b2c3da5528b252cf717b07b7307a829d912 Mon Sep 17 00:00:00 2001 From: Michael Day <mday299@yahoo.com> Date: Tue, 21 Oct 2014 13:45:24 -0700 Subject: [PATCH] AP_Mission: support for MAV_CMD_CONTINUE_AND_CHANGE_ALT --- libraries/AP_Mission/AP_Mission.cpp | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/libraries/AP_Mission/AP_Mission.cpp b/libraries/AP_Mission/AP_Mission.cpp index 72bea649d..2703dbf16 100644 --- a/libraries/AP_Mission/AP_Mission.cpp +++ b/libraries/AP_Mission/AP_Mission.cpp @@ -512,6 +512,10 @@ bool AP_Mission::mavlink_to_mission_cmd(const mavlink_mission_item_t& packet, AP cmd.p1 = packet.param1; // minimum pitch (plane only) break; + case MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT: // MAV ID: 30 + copy_location = true; // only using alt + break; + case MAV_CMD_NAV_SPLINE_WAYPOINT: // MAV ID: 82 copy_location = true; cmd.p1 = packet.param1; // delay at waypoint in seconds @@ -777,6 +781,10 @@ bool AP_Mission::mission_cmd_to_mavlink(const AP_Mission::Mission_Command& cmd, packet.param1 = cmd.p1; // minimum pitch (plane only) break; + case MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT: // MAV ID: 30 + copy_location = true; //only using alt. + break; + case MAV_CMD_NAV_SPLINE_WAYPOINT: // MAV ID: 82 copy_location = true; packet.param1 = cmd.p1; // delay at waypoint in seconds -- GitLab