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AP_Mount: add build options for deprecated messages MOUNT_CONTROL/MOUNT_CONFIGURE 

these are repalced by the command equivalents
This commit is contained in:
Peter Barker 2023-08-24 10:10:29 +10:00 committed by Peter Barker
parent 9e330b2f09
commit 02d0a07083
4 changed files with 22 additions and 1 deletions
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8
libraries/AP_Mount/AP_Mount.cpp
View File

@ -548,6 +548,7 @@ void AP_Mount::handle_global_position_int(const mavlink_message_t &msg)
}
}
#if AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED
/// Change the configuration of the mount
void AP_Mount::handle_mount_configure(const mavlink_message_t &msg)
{
@ -562,7 +563,9 @@ void AP_Mount::handle_mount_configure(const mavlink_message_t &msg)
// send message to backend
backend->handle_mount_configure(packet);
}
#endif
#if AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED
/// Control the mount (depends on the previously set mount configuration)
void AP_Mount::handle_mount_control(const mavlink_message_t &msg)
{
@ -577,6 +580,7 @@ void AP_Mount::handle_mount_control(const mavlink_message_t &msg)
// send message to backend
backend->handle_mount_control(packet);
}
#endif
// send a GIMBAL_DEVICE_ATTITUDE_STATUS message to GCS
void AP_Mount::send_gimbal_device_attitude_status(mavlink_channel_t chan)
@ -879,12 +883,16 @@ void AP_Mount::handle_message(mavlink_channel_t chan, const mavlink_message_t &m
case MAVLINK_MSG_ID_GIMBAL_REPORT:
handle_gimbal_report(chan, msg);
break;
#if AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED
case MAVLINK_MSG_ID_MOUNT_CONFIGURE:
handle_mount_configure(msg);
break;
#endif
#if AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED
case MAVLINK_MSG_ID_MOUNT_CONTROL:
handle_mount_control(msg);
break;
#endif
case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
handle_global_position_int(msg);
break;

5
libraries/AP_Mount/AP_Mount.h
View File

@ -23,6 +23,7 @@
#if HAL_MOUNT_ENABLED
#include <GCS_MAVLink/GCS_config.h>
#include <AP_HAL/AP_HAL_Boards.h>
#include <AP_Math/AP_Math.h>
#include <AP_Common/AP_Common.h>
@ -281,8 +282,12 @@ private:
AP_Mount_Backend *get_instance(uint8_t instance) const;
void handle_gimbal_report(mavlink_channel_t chan, const mavlink_message_t &msg);
#if AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED
void handle_mount_configure(const mavlink_message_t &msg);
#endif
#if AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED
void handle_mount_control(const mavlink_message_t &msg);
#endif
MAV_RESULT handle_command_do_mount_configure(const mavlink_command_int_t &packet);
MAV_RESULT handle_command_do_mount_control(const mavlink_command_int_t &packet);

4
libraries/AP_Mount/AP_Mount_Backend.cpp
View File

@ -108,11 +108,13 @@ void AP_Mount_Backend::set_target_sysid(uint8_t sysid)
set_mode(MAV_MOUNT_MODE_SYSID_TARGET);
}
#if AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED
// process MOUNT_CONFIGURE messages received from GCS. deprecated.
void AP_Mount_Backend::handle_mount_configure(const mavlink_mount_configure_t &packet)
{
set_mode((MAV_MOUNT_MODE)packet.mount_mode);
}
#endif
// send a GIMBAL_DEVICE_ATTITUDE_STATUS message to GCS
void AP_Mount_Backend::send_gimbal_device_attitude_status(mavlink_channel_t chan)
@ -212,6 +214,7 @@ void AP_Mount_Backend::send_gimbal_manager_status(mavlink_channel_t chan)
0); // secondary control component id
}
#if AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED
// process MOUNT_CONTROL messages received from GCS. deprecated.
void AP_Mount_Backend::handle_mount_control(const mavlink_mount_control_t &packet)
{
@ -247,6 +250,7 @@ void AP_Mount_Backend::handle_mount_control(const mavlink_mount_control_t &packe
break;
}
}
#endif
// handle do_mount_control command. Returns MAV_RESULT_ACCEPTED on success
MAV_RESULT AP_Mount_Backend::handle_command_do_mount_control(const mavlink_command_int_t &packet)

6
libraries/AP_Mount/AP_Mount_Backend.h
View File

@ -99,12 +99,16 @@ public:
// handle do_gimbal_manager_configure. Returns MAV_RESULT_ACCEPTED on success
// requires original message in order to extract caller's sysid and compid
MAV_RESULT handle_command_do_gimbal_manager_configure(const mavlink_command_int_t &packet, const mavlink_message_t &msg);
#if AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED
// process MOUNT_CONFIGURE messages received from GCS. deprecated.
void handle_mount_configure(const mavlink_mount_configure_t &msg);
#endif
#if AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED
// process MOUNT_CONTROL messages received from GCS. deprecated.
void handle_mount_control(const mavlink_mount_control_t &packet);
#endif
// send a GIMBAL_DEVICE_ATTITUDE_STATUS message to GCS
void send_gimbal_device_attitude_status(mavlink_channel_t chan);