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Copter: update solo-buttons to work with master 

Change was due to addition of reason codes since PR was first submitted
This commit is contained in:
Randy Mackay 2016-05-13 11:38:30 +09:00
parent 67cd2bae08
commit 0a2336a5a8
1 changed files with 14 additions and 7 deletions
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21
ArduCopter/GCS_Mavlink.cpp
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@ -1575,6 +1575,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
/* Solo user presses Fly button */
case MAV_CMD_SOLO_BTN_FLY_CLICK: {
result = MAV_RESULT_ACCEPTED;
@ -1582,12 +1583,14 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
if (!copter.set_mode(LOITER)) {
copter.set_mode(ALT_HOLD);
// set mode to Loiter or fall back to AltHold
if (!copter.set_mode(LOITER, MODE_REASON_GCS_COMMAND)) {
copter.set_mode(ALT_HOLD, MODE_REASON_GCS_COMMAND);
}
break;
}
/* Solo user holds down Fly button for a couple of seconds */
case MAV_CMD_SOLO_BTN_FLY_HOLD: {
result = MAV_RESULT_ACCEPTED;
@ -1596,17 +1599,21 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
}
if (!copter.motors.armed()) {
// if disarmed, arm motors
copter.init_arm_motors(true);
} else if (copter.ap.land_complete) {
if (copter.set_mode(LOITER)) {
// if armed and landed, takeoff
if (copter.set_mode(LOITER, MODE_REASON_GCS_COMMAND)) {
copter.do_user_takeoff(packet.param1*100, true);
}
} else {
copter.set_mode(LAND);
// if flying, land
copter.set_mode(LAND, MODE_REASON_GCS_COMMAND);
}
break;
}
/* Solo user presses pause button */
case MAV_CMD_SOLO_BTN_PAUSE_CLICK: {
result = MAV_RESULT_ACCEPTED;
@ -1621,13 +1628,13 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
} else {
// assume that shots modes are all done in guided.
// NOTE: this may need to change if we add a non-guided shot mode
bool shot_mode = (packet.param1 != 0.0f && copter.control_mode == GUIDED);
bool shot_mode = (!is_zero(packet.param1) && copter.control_mode == GUIDED);
if (!shot_mode) {
if (copter.set_mode(BRAKE)) {
if (copter.set_mode(BRAKE, MODE_REASON_GCS_COMMAND)) {
copter.brake_timeout_to_loiter_ms(2500);
} else {
copter.set_mode(ALT_HOLD);
copter.set_mode(ALT_HOLD, MODE_REASON_GCS_COMMAND);
}
} else {
// SoloLink is expected to handle pause in shots