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GCS_MAVLink: handle preflight calibrations

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Peter Barker 2018-03-17 19:19:14 +11:00 committed by Francisco Ferreira
parent c3e70e477d
commit 09d4e36970
2 changed files with 23 additions and 0 deletions
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4
libraries/GCS_MAVLink/GCS.h
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@ -297,6 +297,8 @@ protected:
virtual uint32_t telem_delay() const = 0; virtual uint32_t telem_delay() const = 0;
MAV_RESULT handle_command_preflight_set_sensor_offsets(const mavlink_command_long_t &packet); MAV_RESULT handle_command_preflight_set_sensor_offsets(const mavlink_command_long_t &packet);
virtual MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_mag_cal(const mavlink_command_long_t &packet); MAV_RESULT handle_command_mag_cal(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_long_message(mavlink_command_long_t &packet); MAV_RESULT handle_command_long_message(mavlink_command_long_t &packet);
MAV_RESULT handle_command_camera(const mavlink_command_long_t &packet); MAV_RESULT handle_command_camera(const mavlink_command_long_t &packet);
@ -316,6 +318,8 @@ protected:
void handle_data_packet(mavlink_message_t *msg); void handle_data_packet(mavlink_message_t *msg);
private: private:
MAV_RESULT handle_command_preflight_calibration(const mavlink_command_long_t &packet);
float adjust_rate_for_stream_trigger(enum streams stream_num); float adjust_rate_for_stream_trigger(enum streams stream_num);
MAV_RESULT _set_mode_common(const MAV_MODE base_mode, const uint32_t custom_mode); MAV_RESULT _set_mode_common(const MAV_MODE base_mode, const uint32_t custom_mode);

19
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -2219,6 +2219,21 @@ MAV_RESULT GCS_MAVLINK::handle_command_preflight_set_sensor_offsets(const mavlin
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;
} }
MAV_RESULT GCS_MAVLINK::_handle_command_preflight_calibration(const mavlink_command_long_t &packet)
{
return MAV_RESULT_UNSUPPORTED;
}
MAV_RESULT GCS_MAVLINK::handle_command_preflight_calibration(const mavlink_command_long_t &packet)
{
if (hal.util->get_soft_armed()) {
// *preflight*, remember?
return MAV_RESULT_FAILED;
}
// now call subclass methods:
return _handle_command_preflight_calibration(packet);
}
MAV_RESULT GCS_MAVLINK::handle_command_mag_cal(const mavlink_command_long_t &packet) MAV_RESULT GCS_MAVLINK::handle_command_mag_cal(const mavlink_command_long_t &packet)
{ {
Compass *compass = get_compass(); Compass *compass = get_compass();
@ -2306,6 +2321,10 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_message(mavlink_command_long_t &pack
break; break;
} }
case MAV_CMD_PREFLIGHT_CALIBRATION:
result = handle_command_preflight_calibration(packet);
break;
case MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS: { case MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS: {
result = handle_command_preflight_set_sensor_offsets(packet); result = handle_command_preflight_set_sensor_offsets(packet);
break; break;