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Mission: add support for DO_GRIPPER

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This commit is contained in:
Randy Mackay 2014-09-17 16:21:12 +09:00
parent 1de89804e5
commit 1ce8e453c2
2 changed files with 19 additions and 0 deletions
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10
libraries/AP_Mission/AP_Mission.cpp
View File

@ -625,6 +625,11 @@ bool AP_Mission::mavlink_to_mission_cmd(const mavlink_mission_item_t& packet, AP
cmd.p1 = packet.param1; // normal=0 inverted=1
break;
case MAV_CMD_DO_GRIPPER: // MAV ID: 211
cmd.content.gripper.num = packet.param1; // gripper number
cmd.content.gripper.action = packet.param2; // action 0=release, 1=grab. See GRIPPER_ACTION enum
break;
default:
// unrecognised command
return false;
@ -888,6 +893,11 @@ bool AP_Mission::mission_cmd_to_mavlink(const AP_Mission::Mission_Command& cmd,
packet.param1 = cmd.p1; // normal=0 inverted=1
break;
case MAV_CMD_DO_GRIPPER: // MAV ID: 211
packet.param1 = cmd.content.gripper.num; // gripper number
packet.param2 = cmd.content.gripper.action; // action 0=release, 1=grab. See GRIPPER_ACTION enum
break;
default:
// unrecognised command
return false;

9
libraries/AP_Mission/AP_Mission.h
View File

@ -121,6 +121,12 @@ public:
float meters; // distance
};
// gripper command structure
struct PACKED Gripper_Command {
uint8_t num; // gripper number
uint8_t action; // action (0 = release, 1 = grab)
};
union PACKED Content {
// Nav_Guided_Command
Nav_Guided_Command nav_guided;
@ -158,6 +164,9 @@ public:
// cam trigg distance
Cam_Trigg_Distance cam_trigg_dist;
// do-gripper
Gripper_Command gripper;
// location
Location location; // Waypoint location