void Plane::do_loiter_to_alt(const AP_Mission::Mission_Command& cmd)
{
//set target alt
next_WP_loc.alt = cmd.content.location.alt;
// convert relative alt to absolute alt
if (cmd.content.location.flags.relative_alt) {
next_WP_loc.flags.relative_alt = false;
next_WP_loc.alt += home.alt;
}
//I know I'm storing this twice -- I'm doing that on purpose --
//see verify_loiter_alt() function
condition_value = next_WP_loc.alt;
//are lat and lon 0? if so, don't change the current wp lat/lon
if (cmd.content.location.lat != 0 || cmd.content.location.lng != 0) {
set_next_WP(cmd.content.location);
}
//set loiter direction
loiter_set_direction_wp(cmd);
//must the plane be heading towards the next waypoint before breaking?
condition_value2 = LOWBYTE(cmd.p1);
}
void Plane::do_loiter_unlimited(const AP_Mission::Mission_Command& cmd)
{
Location cmdloc = cmd.content.location;
location_sanitize(current_loc, cmdloc);
set_next_WP(cmdloc);
loiter_set_direction_wp(cmd);
}
void Plane::do_loiter_time(const AP_Mission::Mission_Command& cmd)
{
set_next_WP(cmd.content.location);
// we set start_time_ms when we reach the waypoint
loiter.time_max_ms = cmd.p1 * (uint32_t)1000; // units are seconds
loiter_set_direction_wp(cmd);
}
void Plane::do_loiter_turns(const AP_Mission::Mission_Command& cmd)
{
Location cmdloc = cmd.content.location;
location_sanitize(current_loc, cmdloc);
set_next_WP(cmdloc);
loiter_set_direction_wp(cmd);
loiter.total_cd = (uint32_t)(LOWBYTE(cmd.p1)) * 36000UL;
condition_value = 1; // used to signify primary turns goal not yet met
}
void Plane::do_loiter_to_alt(const AP_Mission::Mission_Command& cmd)
{
//set target alt
Location loc = cmd.content.location;
location_sanitize(current_loc, loc);
set_next_WP(loc);
loiter_set_direction_wp(cmd);
// init to 0, set to 1 when altitude is reached
condition_value = 0;
}
void Plane::do_loiter_time(const AP_Mission::Mission_Command& cmd)
{
Location cmdloc = cmd.content.location;
location_sanitize(current_loc, cmdloc);
set_next_WP(cmdloc);
loiter_set_direction_wp(cmd);
// we set start_time_ms when we reach the waypoint
loiter.time_max_ms = cmd.p1 * (uint32_t)1000; // convert sec to ms
condition_value = 1; // used to signify primary time goal not yet met
}
void Plane::do_loiter_turns(const AP_Mission::Mission_Command& cmd)
{
set_next_WP(cmd.content.location);
loiter.total_cd = (uint32_t)(LOWBYTE(cmd.p1)) * 36000UL;
loiter_set_direction_wp(cmd);
}
void Plane::do_loiter_unlimited(const AP_Mission::Mission_Command& cmd)
{
set_next_WP(cmd.content.location);
loiter_set_direction_wp(cmd);
}
