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| Rev 129 | Rev 130 | ||
|---|---|---|---|
| Line 517... | Line 517... | ||
| 517 | GPS_TargetRadius = 0; |
517 | GPS_TargetRadius = 0; |
| 518 | } |
518 | } |
| 519 | else // no manual control -> gps position hold active |
519 | else // no manual control -> gps position hold active |
| 520 | { |
520 | { |
| 521 | // waypoint trigger logic |
521 | // waypoint trigger logic |
| 522 | if(GPS_pWaypoint != NULL) // waypoint exist |
522 | if(GPS_pWaypoint != NULL) // pointer to waypoint exist |
| 523 | { |
523 | { |
| 524 | if(GPS_pWaypoint->Position.Status == INVALID) // should never happen |
524 | if(GPS_pWaypoint->Position.Status == INVALID) // should never happen |
| 525 | { |
525 | { |
| 526 | GPS_pWaypoint = WPList_Next(); // goto to next WP |
526 | GPS_pWaypoint = WPList_Next(); // goto to next WP |
| 527 | BeepTime = 255; |
527 | BeepTime = 255; |
| Line 547... | Line 547... | ||
| 547 | else |
547 | else |
| 548 | { |
548 | { |
| 549 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // set hold time stamp |
549 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // set hold time stamp |
| 550 | } |
550 | } |
| 551 | } |
551 | } |
| - | 552 | } |
|
| - | 553 | else // pointer to waypoint does not exist |
|
| - | 554 | { |
|
| - | 555 | // try to catch the first waypoint from the list |
|
| - | 556 | GPS_pWaypoint = WPList_Begin(); |
|
| - | 557 | } |
|
| 552 | } // EOF waypoint trigger logic |
558 | // EOF waypoint trigger logic |
| Line 553... | Line 559... | ||
| 553 | 559 | ||
| 554 | if(GPS_pWaypoint != NULL) // Waypoint exist |
560 | if(GPS_pWaypoint != NULL) // Waypoint exist |
| 555 | { |
561 | { |
| 556 | // update the hold position |
562 | // update the hold position |