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https://github.com/ArduPilot/ardupilot
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GCS_MAVLink: add virtual send_winch_status
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parent
6ea3c2a091
commit
1a3ef62b84
libraries/GCS_MAVLink
@ -265,6 +265,7 @@ public:
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void send_set_position_target_global_int(uint8_t target_system, uint8_t target_component, const Location& loc);
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void send_rpm() const;
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void send_generator_status() const;
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virtual void send_winch_status() const {};
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// lock a channel, preventing use by MAVLink
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void lock(bool _lock) {
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@ -43,6 +43,7 @@
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#include <AP_EFI/AP_EFI.h>
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#include <AP_Proximity/AP_Proximity.h>
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#include <AP_Scripting/AP_Scripting.h>
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#include <AP_Winch/AP_Winch.h>
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#include <stdio.h>
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@ -807,6 +808,7 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
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{ MAVLINK_MSG_ID_AUTOPILOT_VERSION, MSG_AUTOPILOT_VERSION},
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{ MAVLINK_MSG_ID_EFI_STATUS, MSG_EFI_STATUS},
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{ MAVLINK_MSG_ID_GENERATOR_STATUS, MSG_GENERATOR_STATUS},
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{ MAVLINK_MSG_ID_WINCH_STATUS, MSG_WINCH_STATUS},
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};
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for (uint8_t i=0; i<ARRAY_SIZE(map); i++) {
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@ -4764,6 +4766,11 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
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break;
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}
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case MSG_WINCH_STATUS:
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CHECK_PAYLOAD_SIZE(WINCH_STATUS);
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send_winch_status();
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break;
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default:
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// try_send_message must always at some stage return true for
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// a message, or we will attempt to infinitely retry the
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@ -74,5 +74,6 @@ enum ap_message : uint8_t {
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MSG_AUTOPILOT_VERSION,
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MSG_EFI_STATUS,
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MSG_GENERATOR_STATUS,
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MSG_WINCH_STATUS,
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MSG_LAST // MSG_LAST must be the last entry in this enum
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};
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