From 4e8666cee9c251fbb1dc74e1af504539e0ad495e Mon Sep 17 00:00:00 2001 From: Grant Morphett Date: Thu, 14 Jul 2016 17:35:49 +1000 Subject: [PATCH] AP_Mission: Adding new MAV_CMD_DO_SET_REVERSE for Rovers. Rover now supports reverse via this MAV_CMD. --- 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 de59909968..d0f0be09b7 100644 --- a/libraries/AP_Mission/AP_Mission.cpp +++ b/libraries/AP_Mission/AP_Mission.cpp @@ -758,6 +758,10 @@ MAV_MISSION_RESULT AP_Mission::mavlink_int_to_mission_cmd(const mavlink_mission_ cmd.content.do_vtol_transition.target_state = packet.param1; break; + case MAV_CMD_DO_SET_REVERSE: + cmd.p1 = packet.param1; // 0 = forward, 1 = reverse + break; + default: // unrecognised command return MAV_MISSION_UNSUPPORTED; @@ -1175,6 +1179,10 @@ bool AP_Mission::mission_cmd_to_mavlink_int(const AP_Mission::Mission_Command& c packet.param1 = cmd.p1; // disable=0 enable=1 break; + case MAV_CMD_DO_SET_REVERSE: + packet.param1 = cmd.p1; // 0 = forward, 1 = reverse + break; + case MAV_CMD_NAV_ALTITUDE_WAIT: // MAV ID: 83 packet.param1 = cmd.content.altitude_wait.altitude; packet.param2 = cmd.content.altitude_wait.descent_rate;