From 146485f7cfccb373f25f4ee4f56aa6e3a8de36de Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 18 Oct 2023 17:30:32 +1100 Subject: [PATCH] Blimp: handle MAV_CMD_NAV_TAKEOFF via command_long and command_in --- Blimp/GCS_Mavlink.cpp | 16 +++++++--------- Blimp/GCS_Mavlink.h | 2 +- 2 files changed, 8 insertions(+), 10 deletions(-) diff --git a/Blimp/GCS_Mavlink.cpp b/Blimp/GCS_Mavlink.cpp index 314e10e65b..a69f36881c 100644 --- a/Blimp/GCS_Mavlink.cpp +++ b/Blimp/GCS_Mavlink.cpp @@ -475,22 +475,20 @@ MAV_RESULT GCS_MAVLINK_Blimp::handle_command_int_packet(const mavlink_command_in switch (packet.command) { case MAV_CMD_DO_REPOSITION: return handle_command_int_do_reposition(packet); + case MAV_CMD_NAV_TAKEOFF: + return MAV_RESULT_ACCEPTED; default: return GCS_MAVLINK::handle_command_int_packet(packet, msg); } } -MAV_RESULT GCS_MAVLINK_Blimp::handle_command_long_packet(const mavlink_command_long_t &packet, const mavlink_message_t &msg) +bool GCS_MAVLINK_Blimp::mav_frame_for_command_long(MAV_FRAME &frame, MAV_CMD packet_command) const { - switch (packet.command) { - - case MAV_CMD_NAV_TAKEOFF: { - return MAV_RESULT_ACCEPTED; - } - - default: - return GCS_MAVLINK::handle_command_long_packet(packet, msg); + if (packet_command == MAV_CMD_NAV_TAKEOFF) { + frame = MAV_FRAME_GLOBAL_RELATIVE_ALT; + return true; } + return GCS_MAVLINK::mav_frame_for_command_long(frame, packet_command); } void GCS_MAVLINK_Blimp::handleMessage(const mavlink_message_t &msg) diff --git a/Blimp/GCS_Mavlink.h b/Blimp/GCS_Mavlink.h index ed406ac0f9..c248ae0886 100644 --- a/Blimp/GCS_Mavlink.h +++ b/Blimp/GCS_Mavlink.h @@ -27,9 +27,9 @@ protected: MAV_RESULT handle_command_do_set_roi(const Location &roi_loc) override; MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet, const mavlink_message_t &msg) override; - MAV_RESULT handle_command_long_packet(const mavlink_command_long_t &packet, const mavlink_message_t &msg) override; MAV_RESULT handle_command_int_do_reposition(const mavlink_command_int_t &packet); + bool mav_frame_for_command_long(MAV_FRAME &frame, MAV_CMD packet_command) const override; bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED; bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED;