[fixedwing] nav function to downlink WP after computation

paparazzi · Oct 6, 2014 · 9e92c9b · 9e92c9b
1 parent f6d922f
commit 9e92c9b
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diff --git a/sw/airborne/firmwares/fixedwing/nav.c b/sw/airborne/firmwares/fixedwing/nav.c
@@ -466,6 +466,13 @@ static void send_wp_moved(void) {
   DownlinkSendWp(DefaultChannel, DefaultDevice, i);
 }
 
+bool_t DownlinkSendWpNr(int _wp)
+{
+  DownlinkSendWp(DefaultChannel, DefaultDevice, _wp);
+  return FALSE;
+}
+
+
 static void send_circle(void) {
   if (nav_in_circle) {
     DOWNLINK_SEND_CIRCLE(DefaultChannel, DefaultDevice,

diff --git a/sw/airborne/firmwares/fixedwing/nav.h b/sw/airborne/firmwares/fixedwing/nav.h
@@ -209,6 +209,8 @@ bool_t nav_approaching_xy(float x, float y, float from_x, float from_y, float ap
     DOWNLINK_SEND_NAVIGATION(_trans, _dev, &nav_block, &nav_stage, &(pos->x), &(pos->y), &dist_wp, &dist_home, &_circle_count, &nav_oval_count); \
 }
 
+extern bool_t DownlinkSendWpNr(int _wp);
+
 #define DownlinkSendWp(_trans, _dev, i) {	   \
   float x = nav_utm_east0 +  waypoints[i].x; \
   float y = nav_utm_north0 + waypoints[i].y; \