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Plane: accept motor test as both command long and command int

This commit is contained in:
Peter Barker 2023-09-14 09:53:58 +10:00 committed by Peter Barker
parent 164b7328bd
commit 06f1ac07bc
2 changed files with 12 additions and 8 deletions
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19
ArduPlane/GCS_Mavlink.cpp
View File

@ -985,6 +985,9 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_packet(const mavlink_command_in
return handle_command_DO_CHANGE_SPEED(packet);
#if HAL_QUADPLANE_ENABLED
case MAV_CMD_DO_MOTOR_TEST:
return handle_MAV_CMD_DO_MOTOR_TEST(packet);
case MAV_CMD_DO_VTOL_TRANSITION:
return handle_command_DO_VTOL_TRANSITION(packet);
#endif
@ -1086,8 +1089,14 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
return MAV_RESULT_FAILED;
#endif
default:
return GCS_MAVLINK::handle_command_long_packet(packet, msg);
}
}
#if HAL_QUADPLANE_ENABLED
case MAV_CMD_DO_MOTOR_TEST:
MAV_RESULT GCS_MAVLINK_Plane::handle_MAV_CMD_DO_MOTOR_TEST(const mavlink_command_int_t &packet)
{
// param1 : motor sequence number (a number from 1 to max number of motors on the vehicle)
// param2 : throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum)
// param3 : throttle (range depends upon param2)
@ -1098,15 +1107,9 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
(uint8_t)packet.param2,
(uint16_t)packet.param3,
packet.param4,
(uint8_t)packet.param5);
#endif
default:
return GCS_MAVLINK::handle_command_long_packet(packet, msg);
}
(uint8_t)packet.x);
}
#if HAL_QUADPLANE_ENABLED
MAV_RESULT GCS_MAVLINK_Plane::handle_command_DO_VTOL_TRANSITION(const mavlink_command_int_t &packet)
{
if (!plane.quadplane.handle_do_vtol_transition((enum MAV_VTOL_STATE)packet.param1)) {

1
ArduPlane/GCS_Mavlink.h
View File

@ -55,6 +55,7 @@ private:
MAV_RESULT handle_command_int_do_reposition(const mavlink_command_int_t &packet);
MAV_RESULT handle_command_int_guided_slew_commands(const mavlink_command_int_t &packet);
MAV_RESULT handle_command_DO_CHANGE_SPEED(const mavlink_command_int_t &packet);
MAV_RESULT handle_MAV_CMD_DO_MOTOR_TEST(const mavlink_command_int_t &packet);
MAV_RESULT handle_command_DO_VTOL_TRANSITION(const mavlink_command_int_t &packet);
bool try_send_message(enum ap_message id) override;