Fixed message warning and made separte waypoints

paparazzi · Sep 14, 2016 · 3c12ff4 · 3c12ff4
1 parent 632d44e
commit 3c12ff4
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/conf/flight_plans/TUDELFT/logo600_landing.xml b/conf/flight_plans/TUDELFT/logo600_landing.xml
@@ -11,6 +11,7 @@
     <waypoint name="JOE" x="0.0" y="-50.0"/>
     <waypoint name="CIRCLE" x="0.0" y="-50.0"/>
     <waypoint name="LANDING" x="10.0" y="10.0"/>
+    <waypoint name="LANDSPOT" x="15.0" y="15.0"/>
   </waypoints>
   <blocks>
     <block name="Wait GPS">

diff --git a/sw/airborne/modules/sensors/kalamos_uart.c b/sw/airborne/modules/sensors/kalamos_uart.c
@@ -112,7 +112,7 @@ static inline void kalamos_parse_msg(void)
     //float diff_search = (kalamos_search_height - k2p_package.height)*kalamos_height_gain;
 
     if (kalamos_enable_spotsearch) {
-      waypoint_set_xy_i(WP_LANDING, POS_BFP_OF_REAL(k2p_package.land_enu_x), POS_BFP_OF_REAL(k2p_package.land_enu_y));
+      waypoint_set_xy_i(WP_LANDSPOT, POS_BFP_OF_REAL(k2p_package.land_enu_x), POS_BFP_OF_REAL(k2p_package.land_enu_y));
     }
 
     if (kalamos_enable_landing) {
@@ -151,7 +151,7 @@ static inline void kalamos_parse_msg(void)
     if (kalamos_enable_findjoe) {
       waypoint_set_xy_i(WP_JOE,POS_BFP_OF_REAL(k2p_package.joe_enu_x), POS_BFP_OF_REAL(k2p_package.joe_enu_y));
 
-      int wp_id = WP_JOE;
+      uint8_t wp_id = WP_JOE;
       DOWNLINK_SEND_WP_MOVED_ENU(DefaultChannel, DefaultDevice, &wp_id,&(waypoints[WP_JOE].enu_i.x),
                                  &(waypoints[WP_JOE].enu_i.y), &(waypoints[WP_JOE].enu_i.z));
     }