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GCS_MAVLink: Handle termination requests from the GCS

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Michael du Breuil 2017-07-24 23:36:53 -07:00 committed by Francisco Ferreira
parent a98c8427dd
commit 067335f68d
2 changed files with 24 additions and 0 deletions
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3
libraries/GCS_MAVLink/GCS.h
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@ -19,6 +19,7 @@
#include <AP_Frsky_Telem/AP_Frsky_Telem.h>
#include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
#include <AP_Camera/AP_Camera.h>
#include <AP_AdvancedFailsafe/AP_AdvancedFailsafe.h>
// check if a message will fit in the payload space available
#define HAVE_PAYLOAD_SPACE(chan, id) (comm_get_txspace(chan) >= GCS_MAVLINK::packet_overhead_chan(chan)+MAVLINK_MSG_ID_ ## id ## _LEN)
@ -228,6 +229,7 @@ protected:
virtual class AP_Camera *get_camera() const = 0;
virtual AP_ServoRelayEvents *get_servorelayevents() const = 0;
virtual AP_GPS *get_gps() const = 0;
virtual AP_AdvancedFailsafe *get_advanced_failsafe() const { return nullptr; };
bool waypoint_receiving; // currently receiving
// the following two variables are only here because of Tracker
@ -271,6 +273,7 @@ protected:
void handle_setup_signing(const mavlink_message_t *msg);
uint8_t handle_preflight_reboot(const mavlink_command_long_t &packet, bool disable_overrides);
MAV_RESULT handle_rc_bind(const mavlink_command_long_t &packet);
virtual MAV_RESULT handle_flight_termination(const mavlink_command_long_t &packet);
void handle_device_op_read(mavlink_message_t *msg);
void handle_device_op_write(mavlink_message_t *msg);

21
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -1612,6 +1612,23 @@ uint8_t GCS_MAVLINK::handle_preflight_reboot(const mavlink_command_long_t &packe
return MAV_RESULT_UNSUPPORTED;
}
/*
handle a flight termination request
*/
MAV_RESULT GCS_MAVLINK::handle_flight_termination(const mavlink_command_long_t &packet)
{
AP_AdvancedFailsafe *failsafe = get_advanced_failsafe();
if (failsafe == nullptr) {
return MAV_RESULT_UNSUPPORTED;
}
bool should_terminate = packet.param1 > 0.5f;
if (failsafe->gcs_terminate(should_terminate)) {
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
}
/*
handle a R/C bind request (for spektrum)
@ -1963,6 +1980,10 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_message(mavlink_command_long_t &pack
result = handle_servorelay_message(packet);
break;
case MAV_CMD_DO_FLIGHTTERMINATION:
result = handle_flight_termination(packet);
break;
default:
result = MAV_RESULT_UNSUPPORTED;
}