mirror of https://github.com/ArduPilot/ardupilot
Plane: accept MAV_CMD_DO_AUTOTUNE_ENABLE as both long and int
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@ -954,6 +954,9 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_packet(const mavlink_command_in
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{
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switch(packet.command) {
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case MAV_CMD_DO_AUTOTUNE_ENABLE:
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return handle_MAV_CMD_DO_AUTOTUNE_ENABLE(packet);
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case MAV_CMD_DO_REPOSITION:
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return handle_command_int_do_reposition(packet);
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@ -1059,16 +1062,18 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
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case MAV_CMD_DO_GO_AROUND:
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return plane.trigger_land_abort(packet.param1) ? MAV_RESULT_ACCEPTED : MAV_RESULT_FAILED;
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case MAV_CMD_DO_AUTOTUNE_ENABLE:
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// param1 : enable/disable
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plane.autotune_enable(!is_zero(packet.param1));
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return MAV_RESULT_ACCEPTED;
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default:
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return GCS_MAVLINK::handle_command_long_packet(packet, msg);
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}
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}
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MAV_RESULT GCS_MAVLINK_Plane::handle_MAV_CMD_DO_AUTOTUNE_ENABLE(const mavlink_command_int_t &packet)
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{
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// param1 : enable/disable
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plane.autotune_enable(!is_zero(packet.param1));
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return MAV_RESULT_ACCEPTED;
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}
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#if PARACHUTE == ENABLED
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MAV_RESULT GCS_MAVLINK_Plane::handle_MAV_CMD_DO_PARACHUTE(const mavlink_command_int_t &packet)
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{
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@ -54,6 +54,7 @@ private:
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void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override;
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MAV_RESULT handle_command_int_do_reposition(const mavlink_command_int_t &packet);
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MAV_RESULT handle_command_int_guided_slew_commands(const mavlink_command_int_t &packet);
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MAV_RESULT handle_MAV_CMD_DO_AUTOTUNE_ENABLE(const mavlink_command_int_t &packet);
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MAV_RESULT handle_command_DO_CHANGE_SPEED(const mavlink_command_int_t &packet);
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MAV_RESULT handle_MAV_CMD_DO_MOTOR_TEST(const mavlink_command_int_t &packet);
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MAV_RESULT handle_MAV_CMD_DO_PARACHUTE(const mavlink_command_int_t &packet);
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