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Waypoint 254 access in any 3D-guided mode

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Access current target position in any 3D-guided mode for waypoint 254
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Yuxin Pan 2020-09-03 17:22:50 +08:00 • committed by GitHub
parent 06666c8af6
commit 3951a7a793
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1 changed files with 4 additions and 2 deletions
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6
src/main/navigation/navigation.c
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@ -2796,9 +2796,11 @@ void getWaypoint(uint8_t wpNumber, navWaypoint_t * wpData)
wpData->lon = wpLLH.lon;
wpData->alt = wpLLH.alt;
}
// WP #254 - special waypoint - get desiredPosition that was set by ground control station if in GCS assisted mode
// WP #254 - special waypoint - get desiredPosition that was set by ground control station if in 3D-guided mode
else if (wpNumber == 254) {
if ((posControl.gpsOrigin.valid) && (posControl.flags.isGCSAssistedNavigationEnabled) && (posControl.navState == NAV_STATE_POSHOLD_3D_IN_PROGRESS)) {
navigationFSMStateFlags_t navStateFlags = navGetStateFlags(posControl.navState);
if ((posControl.gpsOrigin.valid) && (navStateFlags & NAV_CTL_ALT) && (navStateFlags & NAV_CTL_POS)) {
gpsLocation_t wpLLH;
geoConvertLocalToGeodetic(&wpLLH, &posControl.gpsOrigin, &posControl.desiredState.pos);