mirror of https://github.com/ArduPilot/ardupilot
GCS_MAVLink: fix airspeed cal / format commands via non-USB telemetry
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9fc8078df4
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@ -169,7 +169,7 @@ public:
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Type task;
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MAV_CMD mav_cmd;
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static class GCS_MAVLINK_InProgress *get_task(MAV_CMD cmd, Type t, uint8_t sysid, uint8_t compid);
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static class GCS_MAVLINK_InProgress *get_task(MAV_CMD cmd, Type t, uint8_t sysid, uint8_t compid, mavlink_channel_t chan);
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static void check_tasks();
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@ -1251,7 +1251,7 @@ bool GCS_MAVLINK_InProgress::conclude(MAV_RESULT result)
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return true;
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}
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GCS_MAVLINK_InProgress *GCS_MAVLINK_InProgress::get_task(MAV_CMD mav_cmd, GCS_MAVLINK_InProgress::Type t, uint8_t sysid, uint8_t compid)
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GCS_MAVLINK_InProgress *GCS_MAVLINK_InProgress::get_task(MAV_CMD mav_cmd, GCS_MAVLINK_InProgress::Type t, uint8_t sysid, uint8_t compid, mavlink_channel_t chan)
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{
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// we can't have two outstanding tasks for the same command from
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// the same mavlink node or the result is ambiguous:
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@ -1270,6 +1270,7 @@ GCS_MAVLINK_InProgress *GCS_MAVLINK_InProgress::get_task(MAV_CMD mav_cmd, GCS_MA
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if (_task.task != Type::NONE) {
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continue;
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}
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_task.chan = chan;
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_task.task = t;
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_task.mav_cmd = mav_cmd;
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_task.requesting_sysid = sysid;
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@ -4227,7 +4228,7 @@ MAV_RESULT GCS_MAVLINK::_handle_command_preflight_calibration_baro(const mavlink
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AP_Airspeed *airspeed = AP_Airspeed::get_singleton();
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if (airspeed != nullptr) {
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GCS_MAVLINK_InProgress *task = GCS_MAVLINK_InProgress::get_task(MAV_CMD_PREFLIGHT_CALIBRATION, GCS_MAVLINK_InProgress::Type::AIRSPEED_CAL, msg.sysid, msg.compid);
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GCS_MAVLINK_InProgress *task = GCS_MAVLINK_InProgress::get_task(MAV_CMD_PREFLIGHT_CALIBRATION, GCS_MAVLINK_InProgress::Type::AIRSPEED_CAL, msg.sysid, msg.compid, chan);
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if (task == nullptr) {
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return MAV_RESULT_TEMPORARILY_REJECTED;
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}
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@ -5097,7 +5098,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_storage_format(const mavlink_command_int_
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!is_equal(packet.param2, 1.0f)) {
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return MAV_RESULT_UNSUPPORTED;
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}
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GCS_MAVLINK_InProgress *task = GCS_MAVLINK_InProgress::get_task(MAV_CMD_STORAGE_FORMAT, GCS_MAVLINK_InProgress::Type::SD_FORMAT, msg.sysid, msg.compid);
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GCS_MAVLINK_InProgress *task = GCS_MAVLINK_InProgress::get_task(MAV_CMD_STORAGE_FORMAT, GCS_MAVLINK_InProgress::Type::SD_FORMAT, msg.sysid, msg.compid, chan);
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if (task == nullptr) {
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return MAV_RESULT_TEMPORARILY_REJECTED;
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}
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