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Code Issues Releases Activity

Add a waypoint above home for the box pattern.

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This commit is contained in:
James Cotton 2012-07-28 22:55:59 -05:00
parent 9bd49ded4f
commit 24636eb5f4
1 changed files with 14 additions and 7 deletions
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21
flight/Modules/PathPlanner/pathplanner.c
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@ -126,6 +126,8 @@ static void pathPlannerTask(void *parameters)
continue; continue;
} }
// This method determines if we have achieved the goal of the active
// waypoint
checkTerminationCondition(); checkTerminationCondition();
if(pathplanner_active == false) { if(pathplanner_active == false) {
@ -313,30 +315,35 @@ static void createPathBox()
waypoint.Velocity[0] = 2; // Since for now this isn't directional just set a mag waypoint.Velocity[0] = 2; // Since for now this isn't directional just set a mag
waypoint.Action = WAYPOINT_ACTION_PATHTONEXT; waypoint.Action = WAYPOINT_ACTION_PATHTONEXT;
waypoint.Position[0] = 5; waypoint.Position[0] = 0;
waypoint.Position[1] = 5; waypoint.Position[1] = 0;
waypoint.Position[2] = -10; waypoint.Position[2] = -10;
WaypointInstSet(0, &waypoint); WaypointInstSet(0, &waypoint);
waypoint.Position[0] = -5; waypoint.Position[0] = 5;
waypoint.Position[1] = 5; waypoint.Position[1] = 5;
waypoint.Position[2] = -10;
WaypointInstSet(1, &waypoint); WaypointInstSet(1, &waypoint);
waypoint.Position[0] = -5; waypoint.Position[0] = -5;
waypoint.Position[1] = -5; waypoint.Position[1] = 5;
WaypointInstSet(2, &waypoint); WaypointInstSet(2, &waypoint);
waypoint.Position[0] = 5; waypoint.Position[0] = -5;
waypoint.Position[1] = -5; waypoint.Position[1] = -5;
WaypointInstSet(3, &waypoint); WaypointInstSet(3, &waypoint);
waypoint.Position[0] = 5; waypoint.Position[0] = 5;
waypoint.Position[1] = 5; waypoint.Position[1] = -5;
WaypointInstSet(4, &waypoint); WaypointInstSet(4, &waypoint);
waypoint.Position[0] = 5;
waypoint.Position[1] = 5;
WaypointInstSet(5, &waypoint);
waypoint.Position[0] = 0; waypoint.Position[0] = 0;
waypoint.Position[1] = 0; waypoint.Position[1] = 0;
WaypointInstSet(5, &waypoint); WaypointInstSet(6, &waypoint);
} }
static void createPathLogo() static void createPathLogo()