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GCS_MAVLink: handle proximity and rangefinder messages

This commit is contained in:
Peter Barker 2019-12-10 13:45:26 +11:00 committed by Andrew Tridgell
parent 708a6f99a6
commit 01710c035e
2 changed files with 36 additions and 0 deletions
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3
libraries/GCS_MAVLink/GCS.h
View File

@ -350,6 +350,9 @@ protected:
void handle_mission_write_partial_list(const mavlink_message_t &msg);
void handle_mission_item(const mavlink_message_t &msg);
void handle_distance_sensor(const mavlink_message_t &msg);
void handle_obstacle_distance(const mavlink_message_t &msg);
void handle_common_param_message(const mavlink_message_t &msg);
void handle_param_set(const mavlink_message_t &msg);
void handle_param_request_list(const mavlink_message_t &msg);

33
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -24,6 +24,7 @@
#include <AP_Logger/AP_Logger.h>
#include <AP_OpticalFlow/AP_OpticalFlow.h>
#include <AP_Vehicle/AP_Vehicle.h>
#include <AP_RangeFinder/AP_RangeFinder.h>
#include <AP_RangeFinder/AP_RangeFinder_Backend.h>
#include <AP_Airspeed/AP_Airspeed.h>
#include <AP_Camera/AP_Camera.h>
@ -39,6 +40,7 @@
#include <AP_OpticalFlow/OpticalFlow.h>
#include <AP_Baro/AP_Baro.h>
#include <AP_EFI/AP_EFI.h>
#include <AP_Proximity/AP_Proximity.h>
#include <stdio.h>
@ -3044,6 +3046,27 @@ MAV_RESULT GCS_MAVLINK::handle_fixed_mag_cal_yaw(const mavlink_command_long_t &p
packet.param4);
}
void GCS_MAVLINK::handle_distance_sensor(const mavlink_message_t &msg)
{
RangeFinder *rangefinder = AP::rangefinder();
if (rangefinder != nullptr) {
rangefinder->handle_msg(msg);
}
AP_Proximity *proximity = AP::proximity();
if (proximity != nullptr) {
proximity->handle_msg(msg);
}
}
void GCS_MAVLINK::handle_obstacle_distance(const mavlink_message_t &msg)
{
AP_Proximity *proximity = AP::proximity();
if (proximity != nullptr) {
proximity->handle_msg(msg);
}
}
/*
handle messages which don't require vehicle specific data
*/
@ -3218,7 +3241,17 @@ void GCS_MAVLINK::handle_common_message(const mavlink_message_t &msg)
case MAVLINK_MSG_ID_OPTICAL_FLOW:
handle_optical_flow(msg);
break;
case MAVLINK_MSG_ID_DISTANCE_SENSOR:
handle_distance_sensor(msg);
break;
case MAVLINK_MSG_ID_OBSTACLE_DISTANCE:
handle_obstacle_distance(msg);
break;
}
}
void GCS_MAVLINK::handle_common_mission_message(const mavlink_message_t &msg)