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Rev 146 | Rev 151 | ||
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554 | { |
554 | { |
555 | /* ToDo: Adjust GPS_pWaypoint->Heading, GPS_pWaypoint->Event handling */ |
555 | /* ToDo: Adjust GPS_pWaypoint->Heading, GPS_pWaypoint->Event handling */ |
556 | if(CheckDelay(WPTime)) |
556 | if(CheckDelay(WPTime)) |
557 | { |
557 | { |
558 | GPS_pWaypoint = WPList_Next(); // goto to next waypoint, return NULL if end of list has been reached |
558 | GPS_pWaypoint = WPList_Next(); // goto to next waypoint, return NULL if end of list has been reached |
559 | if(GPS_pWaypoint == NULL) GPS_pWaypoint = WPList_Begin(); // reset WPList to begin |
559 | if(GPS_pWaypoint == NULL) GPS_pWaypoint = WPList_End(); // goto last WP if next one not exist |
- | 560 | if(GPS_pWaypoint != NULL) // if new WP exist |
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- | 561 | { // update WP hold time stamp immediately! |
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- | 562 | WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // update hold time stamp |
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- | 563 | } |
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560 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
564 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
561 | } |
565 | } |
562 | } // EOF if(WPArrived) |
566 | } // EOF if(WPArrived) |
563 | else |
567 | else |
564 | { |
568 | { |