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AntennaTracker: Added supportfor manual control message to force antenna bearing and pitch in manual mode

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Mike McCauley 2014-03-16 08:17:04 +10:00 committed by Andrew Tridgell
parent 61ebf365d9
commit 25c46cdc00
2 changed files with 19 additions and 3 deletions
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11
Tools/AntennaTracker/GCS_Mavlink.pde
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@ -813,11 +813,8 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
set_home(tell_command); // New home in EEPROM set_home(tell_command); // New home in EEPROM
send_text_P(SEVERITY_LOW,PSTR("new HOME received")); send_text_P(SEVERITY_LOW,PSTR("new HOME received"));
waypoint_receiving = false; waypoint_receiving = false;
} }
mission_failed: mission_failed:
// we are rejecting the mission/waypoint // we are rejecting the mission/waypoint
mavlink_msg_mission_ack_send( mavlink_msg_mission_ack_send(
@ -828,6 +825,14 @@ mission_failed:
break; break;
} }
case MAVLINK_MSG_ID_MANUAL_CONTROL:
{
if(msg->sysid != g.sysid_my_gcs) break; // Only accept control from our gcs
mavlink_manual_control_t packet;
mavlink_msg_manual_control_decode(msg, &packet);
tracking_manual_control(packet);
break;
}
case MAVLINK_MSG_ID_GLOBAL_POSITION_INT: case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
{ {

11
Tools/AntennaTracker/tracking.pde
View File

@ -273,3 +273,14 @@ static void tracking_update_pressure(const mavlink_scaled_pressure_t &msg)
nav_status.altitude_difference = alt_diff; nav_status.altitude_difference = alt_diff;
} }
} }
/**
handle a manual control message by using the data to command yaw and pitch
*/
static void tracking_manual_control(const mavlink_manual_control_t &msg)
{
nav_status.bearing = msg.x;
nav_status.pitch = msg.y;
nav_status.distance = 0.0;
// z, r and buttons are not used
}