@@ -223,14 +241,14 @@ int Drone::waypointrl(float param5)
command.target_system=1;
command.target_component=1;
command.command=MAV_CMD_NAV_WAYPOINT;
command.confirmation=false;
command.param1=0;//Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing) min : 0 (seconds)
command.confirmation=true;
command.param1=100;//Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing) min : 0 (seconds)
command.param2=0;//Acceptance radius (if the sphere with this radius is hit, the waypoint counts as reached) min 0 (m)
command.param3=0;//0 to pass through the WP, if > 0 radius to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control. (m)
command.param4=0;//Desired yaw angle at waypoint (rotary wing). NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.). (deg)
command.param4=NAN;//Yaw angle (if magnetometer present), ignored without magnetometer. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).
uint16_tmask=0b0000111111000111;// only speed enabled //itmask to indicate which dimensions should be ignored by the vehicle: a value of 0b0000000000000000 or 0b0000001000000000 indicates that none of the setpoint dimensions should be ignored.
floatx=0;// X Position in NED frame in meters
floaty=0;// Y Position in NED frame in meters
floatz=0;// Z Position in NED frame in meters (note, altitude is negative in NED)
floatvvx=vx;// X velocity in NED frame in meter / s
floatvvy=vy;//Y velocity in NED frame in meter / s