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ArduPlane: add sanity check for command-int conversion

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This commit is contained in:
Peter Barker 2024-12-15 11:46:50 +11:00
parent fa654980e0
commit 016853f8c7
2 changed files with 3 additions and 3 deletions
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4
ArduPlane/GCS_Mavlink.cpp
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@ -1163,12 +1163,12 @@ void GCS_MAVLINK_Plane::convert_MAV_CMD_NAV_TAKEOFF_to_COMMAND_INT(const mavlink
out.z = -in.param7; // up -> down
}
void GCS_MAVLINK_Plane::convert_COMMAND_LONG_to_COMMAND_INT(const mavlink_command_long_t &in, mavlink_command_int_t &out, MAV_FRAME frame)
MAV_RESULT GCS_MAVLINK_Plane::convert_COMMAND_LONG_to_COMMAND_INT(const mavlink_command_long_t &in, mavlink_command_int_t &out, MAV_FRAME frame)
{
switch (in.command) {
case MAV_CMD_NAV_TAKEOFF:
convert_MAV_CMD_NAV_TAKEOFF_to_COMMAND_INT(in, out);
return;
return MAV_RESULT_ACCEPTED;
}
return GCS_MAVLINK::convert_COMMAND_LONG_to_COMMAND_INT(in, out, frame);
}

2
ArduPlane/GCS_Mavlink.h
View File

@ -76,7 +76,7 @@ private:
#if HAL_QUADPLANE_ENABLED
#if AP_MAVLINK_COMMAND_LONG_ENABLED
void convert_MAV_CMD_NAV_TAKEOFF_to_COMMAND_INT(const mavlink_command_long_t &in, mavlink_command_int_t &out);
void convert_COMMAND_LONG_to_COMMAND_INT(const mavlink_command_long_t &in, mavlink_command_int_t &out, MAV_FRAME frame = MAV_FRAME_GLOBAL_RELATIVE_ALT) override;
MAV_RESULT convert_COMMAND_LONG_to_COMMAND_INT(const mavlink_command_long_t &in, mavlink_command_int_t &out, MAV_FRAME frame = MAV_FRAME_GLOBAL_RELATIVE_ALT) override;
#endif
MAV_RESULT handle_command_MAV_CMD_NAV_TAKEOFF(const mavlink_command_int_t &packet);
#endif