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GCS_MAVLink: split out a handle_command_component_arm_disarm

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This commit is contained in:
Peter Barker 2021-01-06 10:50:13 +11:00 committed by Randy Mackay
parent a2192eda5e
commit 0052500d67
2 changed files with 34 additions and 26 deletions
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1
libraries/GCS_MAVLink/GCS.h
View File

@ -381,6 +381,7 @@ protected:
virtual bool set_home_to_current_location(bool lock) = 0;
virtual bool set_home(const Location& loc, bool lock) = 0;
virtual MAV_RESULT handle_command_component_arm_disarm(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_do_set_home(const mavlink_command_long_t &packet);
void handle_mission_request_list(const mavlink_message_t &msg);

59
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -3847,6 +3847,37 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_set_home(const mavlink_command_long_t
return MAV_RESULT_ACCEPTED;
}
MAV_RESULT GCS_MAVLINK::handle_command_component_arm_disarm(const mavlink_command_long_t &packet)
{
if (is_equal(packet.param1,1.0f)) {
if (AP::arming().is_armed()) {
return MAV_RESULT_ACCEPTED;
}
// run pre_arm_checks and arm_checks and display failures
const bool do_arming_checks = !is_equal(packet.param2,magic_force_arm_value);
if (AP::arming().arm(AP_Arming::Method::MAVLINK, do_arming_checks)) {
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
}
if (is_zero(packet.param1)) {
if (!AP::arming().is_armed()) {
return MAV_RESULT_ACCEPTED;
}
// allow vehicle to disallow disarm. Copter does this if
// the vehicle isn't considered landed.
if (!allow_disarm() &&
!is_equal(packet.param2, magic_force_disarm_value)) {
return MAV_RESULT_FAILED;
}
if (AP::arming().disarm(AP_Arming::Method::MAVLINK)) {
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
}
return MAV_RESULT_UNSUPPORTED;
}
MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t &packet)
{
@ -3978,32 +4009,8 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
break;
case MAV_CMD_COMPONENT_ARM_DISARM:
if (is_equal(packet.param1,1.0f)) {
// run pre_arm_checks and arm_checks and display failures
const bool do_arming_checks = !is_equal(packet.param2,magic_force_arm_value);
if (AP::arming().is_armed() ||
AP::arming().arm(AP_Arming::Method::MAVLINK, do_arming_checks)) {
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
}
if (is_zero(packet.param1)) {
if (!AP::arming().is_armed()) {
return MAV_RESULT_ACCEPTED;
}
// allow vehicle to disallow disarm. Copter does this if
// the vehicle isn't considered landed.
if (!allow_disarm() &&
!is_equal(packet.param2, magic_force_disarm_value)) {
return MAV_RESULT_FAILED;
}
if (AP::arming().disarm(AP_Arming::Method::MAVLINK)) {
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
}
return MAV_RESULT_UNSUPPORTED;
result = handle_command_component_arm_disarm(packet);
break;
case MAV_CMD_FIXED_MAG_CAL_YAW:
result = handle_fixed_mag_cal_yaw(packet);