Diff: handle/mavcommands.h

Revision:

66:5d43988d100c

Parent:

64:d4818fb7813c

--- a/handle/mavcommands.h	Sun Apr 27 21:54:33 2014 +0000
+++ b/handle/mavcommands.h	Mon May 05 13:20:35 2014 +0000
@@ -4,6 +4,8 @@
 #include "packet.h"
 #include <algorithm>
 #include"handle/dataLocation.h"
+#include"handle/handleCompass.h"
+
 typedef struct MAV_REQUEST_LIST_S{
     char targSys;
     char targComp;
@@ -96,17 +98,19 @@
     double cLat,cLon,cAlt;
     bool hasMoved();
     bool moveValid;
+    double calibAlt;
 public:
     MavCmd():initialized(false){}
     char* getNextCmd();
     void handleNextCmd();
     void setupCmds();
-    void setup(){if(!initialized){setupCmds();initialized=true;}}
+    void setup(){if(!initialized){setupCmds();initialized=true;calibAlt=0.0f;}}
     void run(){
         setup();
         readState=0;
         while(Mav::getSerial().readable()>0){char input=Mav::getSerial().getc();}
-        if(cLon!=0&&cLat!=0&&hasMoved()){
+        //&&DH::Locs().getC(LHType_locs,DH::Locs().getI()).getLat()!=0&&DH::Locs().getC(LHType_locs,DH::Locs().getI()).getLon()!=0
+        if(1==2&&DH::Locs().getI(LHType_targ,LHIType_size)>0&&hasMoved()){
             USB::getSerial().printf("USING NEW WAYPOINT!!!\n");
             // Issue count to init waypoint entry
             Mav::sendOutput(MAVLINK_MSG_ID_COUNT,(char*)&issueCount,sizeof(MAV_COUNT));