Changeset 81 in flair-src for branches/mavlink/tools/Controller/Mavlink/src/GuiGcs.cpp

Timestamp:

09/21/16 15:07:48 (8 years ago)

Author:

Thomas Fuhrmann

Message:

Add lat, lon and alt fields + adapt processing of MissionSend

File:

• branches/mavlink/tools/Controller/Mavlink/src/GuiGcs.cpp (modified) (1 diff)

branches/mavlink/tools/Controller/Mavlink/src/GuiGcs.cpp

@@ -106 +106 @@
     // Parse param3
     float param3 = std::stof(missionCommand.substr(0, missionCommand.find(delimiter)));
+    missionCommand.erase(0, missionCommand.find(delimiter) + delimiter.length());
+    // Parse latitude
+    float latitude = std::stof(missionCommand.substr(0, missionCommand.find(delimiter)));
+    missionCommand.erase(0, missionCommand.find(delimiter) + delimiter.length());
+    // Parse longitude
+    float longitude = std::stof(missionCommand.substr(0, missionCommand.find(delimiter)));
+    missionCommand.erase(0, missionCommand.find(delimiter) + delimiter.length());
+    // Parse altitude
+    float altitude = std::stof(missionCommand.substr(0, missionCommand.find(delimiter)));
+    missionCommand.erase(0, missionCommand.find(delimiter) + delimiter.length());
     // cout << "[INFO] Mission item commands : " << command << ", " << param1 << ", " << param2 << ", " << param3 << std::endl;
-    mavCom->sendMissionItem(mavCom->target.getSysID(), mavCom->target.getCompID(), 0, MAV_FRAME_GLOBAL_RELATIVE_ALT, MavCommandGet(command), 0, 1, 0, 0, 0, 0, param1, param2, param3);
+    mavCom->sendMissionItem(mavCom->target.getSysID(), mavCom->target.getCompID(), 0, MAV_FRAME_GLOBAL_RELATIVE_ALT, MavCommandGet(command), 0, 1, param1, param2, param3, 0, latitude, longitude, altitude);
     mavCom->waitMissionAck(ACK_TIMEOUT);
   }