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Rover: handle command_int in base class

This commit is contained in:
Peter Barker 2018-07-04 12:38:22 +10:00 committed by Peter Barker
parent 1da3e8f182
commit 0785e48718
2 changed files with 90 additions and 102 deletions
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191
APMrover2/GCS_Mavlink.cpp
View File

@ -517,6 +517,95 @@ MAV_RESULT GCS_MAVLINK_Rover::_handle_command_preflight_calibration(const mavlin
return GCS_MAVLINK::_handle_command_preflight_calibration(packet);
}
MAV_RESULT GCS_MAVLINK_Rover::handle_command_int_packet(const mavlink_command_int_t &packet)
{
switch (packet.command) {
case MAV_CMD_DO_CHANGE_SPEED:
// param1 : unused
// param2 : new speed in m/s
if (!rover.control_mode->set_desired_speed(packet.param2)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
case MAV_CMD_DO_SET_HOME: {
// assume failure
if (is_equal(packet.param1, 1.0f)) {
// if param1 is 1, use current location
if (rover.set_home_to_current_location(true)) {
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
}
// ensure param1 is zero
if (!is_zero(packet.param1)) {
return MAV_RESULT_FAILED;
}
// check frame type is supported
if (packet.frame != MAV_FRAME_GLOBAL &&
packet.frame != MAV_FRAME_GLOBAL_INT &&
packet.frame != MAV_FRAME_GLOBAL_RELATIVE_ALT &&
packet.frame != MAV_FRAME_GLOBAL_RELATIVE_ALT_INT) {
return MAV_RESULT_FAILED;
}
// sanity check location
if (!check_latlng(packet.x, packet.y)) {
return MAV_RESULT_FAILED;
}
Location new_home_loc {};
new_home_loc.lat = packet.x;
new_home_loc.lng = packet.y;
new_home_loc.alt = packet.z * 100;
// handle relative altitude
if (packet.frame == MAV_FRAME_GLOBAL_RELATIVE_ALT || packet.frame == MAV_FRAME_GLOBAL_RELATIVE_ALT_INT) {
if (!rover.ahrs.home_is_set()) {
// cannot use relative altitude if home is not set
return MAV_RESULT_FAILED;
}
new_home_loc.alt += rover.ahrs.get_home().alt;
}
if (!rover.set_home(new_home_loc, true)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
}
#if MOUNT == ENABLED
case MAV_CMD_DO_SET_ROI: {
// param1 : /* Region of interest mode (not used)*/
// param2 : /* MISSION index/ target ID (not used)*/
// param3 : /* ROI index (not used)*/
// param4 : /* empty */
// x : lat
// y : lon
// z : alt
// sanity check location
if (!check_latlng(packet.x, packet.y)) {
return MAV_RESULT_FAILED;
}
Location roi_loc;
roi_loc.lat = packet.x;
roi_loc.lng = packet.y;
roi_loc.alt = (int32_t)(packet.z * 100.0f);
if (roi_loc.lat == 0 && roi_loc.lng == 0 && roi_loc.alt == 0) {
// switch off the camera tracking if enabled
if (rover.camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) {
rover.camera_mount.set_mode_to_default();
}
} else {
// send the command to the camera mount
rover.camera_mount.set_roi_target(roi_loc);
}
return MAV_RESULT_ACCEPTED;
}
#endif
default:
return GCS_MAVLINK::handle_command_int_packet(packet);
}
}
MAV_RESULT GCS_MAVLINK_Rover::handle_command_long_packet(const mavlink_command_long_t &packet)
{
switch (packet.command) {
@ -667,108 +756,6 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
{
switch (msg->msgid) {
case MAVLINK_MSG_ID_COMMAND_INT: {
// decode packet
mavlink_command_int_t packet;
mavlink_msg_command_int_decode(msg, &packet);
MAV_RESULT result = MAV_RESULT_UNSUPPORTED;
switch (packet.command) {
case MAV_CMD_DO_CHANGE_SPEED:
// param1 : unused
// param2 : new speed in m/s
if (rover.control_mode->set_desired_speed(packet.param2)) {
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
break;
case MAV_CMD_DO_SET_HOME: {
// assume failure
result = MAV_RESULT_FAILED;
if (is_equal(packet.param1, 1.0f)) {
// if param1 is 1, use current location
if (rover.set_home_to_current_location(true)) {
result = MAV_RESULT_ACCEPTED;
}
break;
}
// ensure param1 is zero
if (!is_zero(packet.param1)) {
break;
}
// check frame type is supported
if (packet.frame != MAV_FRAME_GLOBAL &&
packet.frame != MAV_FRAME_GLOBAL_INT &&
packet.frame != MAV_FRAME_GLOBAL_RELATIVE_ALT &&
packet.frame != MAV_FRAME_GLOBAL_RELATIVE_ALT_INT) {
break;
}
// sanity check location
if (!check_latlng(packet.x, packet.y)) {
break;
}
Location new_home_loc {};
new_home_loc.lat = packet.x;
new_home_loc.lng = packet.y;
new_home_loc.alt = packet.z * 100;
// handle relative altitude
if (packet.frame == MAV_FRAME_GLOBAL_RELATIVE_ALT || packet.frame == MAV_FRAME_GLOBAL_RELATIVE_ALT_INT) {
if (!rover.ahrs.home_is_set()) {
// cannot use relative altitude if home is not set
break;
}
new_home_loc.alt += rover.ahrs.get_home().alt;
}
if (rover.set_home(new_home_loc, true)) {
result = MAV_RESULT_ACCEPTED;
}
break;
}
#if MOUNT == ENABLED
case MAV_CMD_DO_SET_ROI: {
// param1 : /* Region of interest mode (not used)*/
// param2 : /* MISSION index/ target ID (not used)*/
// param3 : /* ROI index (not used)*/
// param4 : /* empty */
// x : lat
// y : lon
// z : alt
// sanity check location
if (!check_latlng(packet.x, packet.y)) {
break;
}
Location roi_loc;
roi_loc.lat = packet.x;
roi_loc.lng = packet.y;
roi_loc.alt = (int32_t)(packet.z * 100.0f);
if (roi_loc.lat == 0 && roi_loc.lng == 0 && roi_loc.alt == 0) {
// switch off the camera tracking if enabled
if (rover.camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) {
rover.camera_mount.set_mode_to_default();
}
} else {
// send the command to the camera mount
rover.camera_mount.set_roi_target(roi_loc);
}
result = MAV_RESULT_ACCEPTED;
break;
}
#endif
default:
result = MAV_RESULT_UNSUPPORTED;
break;
}
// send ACK or NAK
mavlink_msg_command_ack_send_buf(msg, chan, packet.command, result);
break;
}
case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE:
{
// allow override of RC channel values for HIL

1
APMrover2/GCS_Mavlink.h
View File

@ -26,6 +26,7 @@ protected:
bool set_mode(uint8_t mode) override;
MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_long_t &packet) override;
MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet) override;
MAV_RESULT handle_command_long_packet(const mavlink_command_long_t &packet) override;
virtual bool in_hil_mode() const override;