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Update Method

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Change from using WP.flag to WP.p3
This commit is contained in:
breadoven 2020-12-14 17:09:57 +00:00
parent 1a104a8f2a
commit ec693daeb6
2 changed files with 13 additions and 16 deletions
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19
src/main/navigation/navigation.c
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@ -2834,24 +2834,25 @@ void setWaypoint(uint8_t wpNumber, const navWaypoint_t * wpData)
if (wpData->action == NAV_WP_ACTION_WAYPOINT || wpData->action == NAV_WP_ACTION_JUMP || wpData->action == NAV_WP_ACTION_RTH || wpData->action == NAV_WP_ACTION_HOLD_TIME || wpData->action == NAV_WP_ACTION_LAND || wpData->action == NAV_WP_ACTION_SET_POI || wpData->action == NAV_WP_ACTION_SET_HEAD ) {
// Only allow upload next waypoint (continue upload mission) or first waypoint (new mission)
static int8_t nonGeoWaypointCount = 0;
if (wpNumber == (posControl.waypointCount + 1) || wpNumber == 1) {
posControl.waypointList[wpNumber - 1] = *wpData;
if (wpData->action == NAV_WP_ACTION_JUMP) {
posControl.waypointList[wpNumber - 1].p1 -= 1; // make index (vice WP #)
if(wpData->action == NAV_WP_ACTION_SET_POI || wpData->action == NAV_WP_ACTION_SET_HEAD || wpData->action == NAV_WP_ACTION_JUMP) {
if(wpData->action == NAV_WP_ACTION_JUMP) {
posControl.waypointList[wpNumber - 1].p1 -= 1; // make index (vice WP #)
}
nonGeoWaypointCount += 1;
} else {
posControl.waypointList[wpNumber - 1].p3 = wpNumber - nonGeoWaypointCount;
}
if (wpData->action == NAV_WP_ACTION_SET_POI || wpData->action == NAV_WP_ACTION_SET_HEAD) {
nonGeoWaypointCount += 1;
}
posControl.waypointCount = wpNumber;
posControl.waypointListValid = (wpData->flag == NAV_WP_FLAG_LAST);
posControl.geoWaypointCount = posControl.waypointCount - nonGeoWaypointCount;
if (posControl.waypointListValid) {
nonGeoWaypointCount = 0;
} else {
posControl.waypointList[wpNumber - 1].flag = wpNumber - nonGeoWaypointCount;
}
}
}
}
}