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ArduPlane: uniformize verify_command 

Add all handle message,
Change MAV_CMD_NAV_ROI to MAV_CMD_DO_SET_ROI
Reformate comments,
This commit is contained in:
Pierre Kancir 2016-08-22 11:05:05 +02:00 committed by Tom Pittenger
parent 94e42e870e
commit 04ee4141e0
1 changed files with 19 additions and 19 deletions
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38
ArduPlane/commands_logic.cpp
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@ -242,6 +242,7 @@ Verify command Handlers
Each type of mission element has a "verify" operation. The verify
operation returns true when the mission element has completed and we
should move onto the next mission element.
Return true if we do not recognize the command so that we move on to the next command
*******************************************************************************/
bool Plane::verify_command(const AP_Mission::Mission_Command& cmd) // Returns true if command complete
@ -251,12 +252,12 @@ bool Plane::verify_command(const AP_Mission::Mission_Command& cmd) // Ret
case MAV_CMD_NAV_TAKEOFF:
return verify_takeoff();
case MAV_CMD_NAV_LAND:
return verify_land();
case MAV_CMD_NAV_WAYPOINT:
return verify_nav_wp(cmd);
case MAV_CMD_NAV_LAND:
return verify_land();
case MAV_CMD_NAV_LOITER_UNLIM:
return verify_loiter_unlim();
@ -278,6 +279,12 @@ bool Plane::verify_command(const AP_Mission::Mission_Command& cmd) // Ret
case MAV_CMD_NAV_ALTITUDE_WAIT:
return verify_altitude_wait(cmd);
case MAV_CMD_NAV_VTOL_TAKEOFF:
return quadplane.verify_vtol_takeoff(cmd);
case MAV_CMD_NAV_VTOL_LAND:
return quadplane.verify_vtol_land();
// Conditional commands
case MAV_CMD_CONDITION_DELAY:
@ -290,14 +297,7 @@ bool Plane::verify_command(const AP_Mission::Mission_Command& cmd) // Ret
case MAV_CMD_DO_PARACHUTE:
// assume parachute was released successfully
return true;
break;
#endif
case MAV_CMD_NAV_VTOL_TAKEOFF:
return quadplane.verify_vtol_takeoff(cmd);
case MAV_CMD_NAV_VTOL_LAND:
return quadplane.verify_vtol_land();
// do commands (always return true)
case MAV_CMD_DO_CHANGE_SPEED:
@ -306,16 +306,16 @@ bool Plane::verify_command(const AP_Mission::Mission_Command& cmd) // Ret
case MAV_CMD_DO_SET_RELAY:
case MAV_CMD_DO_REPEAT_SERVO:
case MAV_CMD_DO_REPEAT_RELAY:
case MAV_CMD_DO_CONTROL_VIDEO:
case MAV_CMD_DO_DIGICAM_CONFIGURE:
case MAV_CMD_DO_DIGICAM_CONTROL:
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
case MAV_CMD_NAV_ROI:
case MAV_CMD_DO_MOUNT_CONFIGURE:
case MAV_CMD_DO_INVERTED_FLIGHT:
case MAV_CMD_DO_LAND_START:
case MAV_CMD_DO_FENCE_ENABLE:
case MAV_CMD_DO_AUTOTUNE_ENABLE:
case MAV_CMD_DO_CONTROL_VIDEO:
case MAV_CMD_DO_DIGICAM_CONFIGURE:
case MAV_CMD_DO_DIGICAM_CONTROL:
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
case MAV_CMD_DO_SET_ROI:
case MAV_CMD_DO_MOUNT_CONTROL:
case MAV_CMD_DO_VTOL_TRANSITION:
case MAV_CMD_DO_ENGINE_CONTROL:
return true;
@ -325,9 +325,9 @@ bool Plane::verify_command(const AP_Mission::Mission_Command& cmd) // Ret
if (AP_Mission::is_nav_cmd(cmd)) {
gcs_send_text(MAV_SEVERITY_WARNING,"Verify nav. Invalid or no current nav cmd");
}else{
gcs_send_text(MAV_SEVERITY_WARNING,"Verify condition. Invalid or no current condition cmd");
}
// return true so that we do not get stuck at this command
gcs_send_text(MAV_SEVERITY_WARNING,"Verify condition. Invalid or no current condition cmd");
}
// return true if we do not recognize the command so that we move on to the next command
return true;
}
}