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Plane: accept MAV_CMD_DO_AUTOTUNE_ENABLE as both long and int

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Peter Barker 2023-09-20 19:04:24 +10:00 committed by Andrew Tridgell
parent 91f457d4eb
commit 11ffb059ae
2 changed files with 11 additions and 5 deletions
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15
ArduPlane/GCS_Mavlink.cpp
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@ -954,6 +954,9 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_packet(const mavlink_command_in
{ {
switch(packet.command) { switch(packet.command) {
case MAV_CMD_DO_AUTOTUNE_ENABLE:
return handle_MAV_CMD_DO_AUTOTUNE_ENABLE(packet);
case MAV_CMD_DO_REPOSITION: case MAV_CMD_DO_REPOSITION:
return handle_command_int_do_reposition(packet); return handle_command_int_do_reposition(packet);
@ -1059,16 +1062,18 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
case MAV_CMD_DO_GO_AROUND: case MAV_CMD_DO_GO_AROUND:
return plane.trigger_land_abort(packet.param1) ? MAV_RESULT_ACCEPTED : MAV_RESULT_FAILED; return plane.trigger_land_abort(packet.param1) ? MAV_RESULT_ACCEPTED : MAV_RESULT_FAILED;
case MAV_CMD_DO_AUTOTUNE_ENABLE:
// param1 : enable/disable
plane.autotune_enable(!is_zero(packet.param1));
return MAV_RESULT_ACCEPTED;
default: default:
return GCS_MAVLINK::handle_command_long_packet(packet, msg); return GCS_MAVLINK::handle_command_long_packet(packet, msg);
} }
} }
MAV_RESULT GCS_MAVLINK_Plane::handle_MAV_CMD_DO_AUTOTUNE_ENABLE(const mavlink_command_int_t &packet)
{
// param1 : enable/disable
plane.autotune_enable(!is_zero(packet.param1));
return MAV_RESULT_ACCEPTED;
}
#if PARACHUTE == ENABLED #if PARACHUTE == ENABLED
MAV_RESULT GCS_MAVLINK_Plane::handle_MAV_CMD_DO_PARACHUTE(const mavlink_command_int_t &packet) MAV_RESULT GCS_MAVLINK_Plane::handle_MAV_CMD_DO_PARACHUTE(const mavlink_command_int_t &packet)
{ {

1
ArduPlane/GCS_Mavlink.h
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@ -54,6 +54,7 @@ private:
void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override; void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override;
MAV_RESULT handle_command_int_do_reposition(const mavlink_command_int_t &packet); 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_int_guided_slew_commands(const mavlink_command_int_t &packet);
MAV_RESULT handle_MAV_CMD_DO_AUTOTUNE_ENABLE(const mavlink_command_int_t &packet);
MAV_RESULT handle_command_DO_CHANGE_SPEED(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_MAV_CMD_DO_MOTOR_TEST(const mavlink_command_int_t &packet);
MAV_RESULT handle_MAV_CMD_DO_PARACHUTE(const mavlink_command_int_t &packet); MAV_RESULT handle_MAV_CMD_DO_PARACHUTE(const mavlink_command_int_t &packet);