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Plane: break out a method for set-attitude-target

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This commit is contained in:
Peter Barker 2024-01-24 10:09:23 +11:00 committed by Andrew Tridgell
parent f96add13e9
commit 127961e692
2 changed files with 20 additions and 17 deletions
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36
ArduPlane/GCS_Mavlink.cpp
View File

@ -1235,6 +1235,24 @@ void GCS_MAVLINK_Plane::handle_message(const mavlink_message_t &msg)
break;
case MAVLINK_MSG_ID_SET_ATTITUDE_TARGET:
handle_set_attitude_target(msg);
break;
case MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED:
handle_set_position_target_local_ned(msg);
break;
case MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT:
handle_set_position_target_global_int(msg);
break;
default:
GCS_MAVLINK::handle_message(msg);
break;
} // end switch
} // end handle mavlink
void GCS_MAVLINK_Plane::handle_set_attitude_target(const mavlink_message_t &msg)
{
// Only allow companion computer (or other external controller) to
// control attitude in GUIDED mode. We DON'T want external control
@ -1242,7 +1260,7 @@ void GCS_MAVLINK_Plane::handle_message(const mavlink_message_t &msg)
// computer control is more safe (even more so when using
// FENCE_ACTION = 4 for geofence failures).
if (plane.control_mode != &plane.mode_guided) { // don't screw up failsafes
break;
return;
}
mavlink_set_attitude_target_t att_target;
@ -1300,24 +1318,8 @@ void GCS_MAVLINK_Plane::handle_message(const mavlink_message_t &msg)
// Update timer for external throttle
plane.guided_state.last_forced_throttle_ms = now;
}
break;
}
case MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED:
handle_set_position_target_local_ned(msg);
break;
case MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT:
handle_set_position_target_global_int(msg);
break;
default:
GCS_MAVLINK::handle_message(msg);
break;
} // end switch
} // end handle mavlink
void GCS_MAVLINK_Plane::handle_set_position_target_local_ned(const mavlink_message_t &msg)
{
// decode packet

1
ArduPlane/GCS_Mavlink.h
View File

@ -68,6 +68,7 @@ private:
void handle_set_position_target_global_int(const mavlink_message_t &msg);
void handle_set_position_target_local_ned(const mavlink_message_t &msg);
void handle_set_attitude_target(const mavlink_message_t &msg);
#if HAL_QUADPLANE_ENABLED
#if AP_MAVLINK_COMMAND_LONG_ENABLED