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GCS_MAVLink: rely on item conversion to run DO_SET_ROI_NONE when presented in COMMAND_LONG

This commit is contained in:
Peter Barker 2023-07-18 15:36:17 +10:00 committed by Randy Mackay
parent c8beddf4c7
commit 274aedeaae
1 changed files with 4 additions and 9 deletions
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13
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -4742,9 +4742,6 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
}
#endif
case MAV_CMD_DO_SET_ROI_NONE:
return handle_command_do_set_roi_none();
case MAV_CMD_DO_SET_ROI_SYSID:
return handle_command_do_set_roi_sysid(packet);
@ -5063,19 +5060,17 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_external_position_estimate(const mavl
}
#endif // AP_AHRS_POSITION_RESET_ENABLED
#if HAL_MOUNT_ENABLED
MAV_RESULT GCS_MAVLINK::handle_command_do_set_roi_none()
{
#if HAL_MOUNT_ENABLED
AP_Mount *mount = AP::mount();
if (mount == nullptr) {
return MAV_RESULT_UNSUPPORTED;
}
mount->set_mode_to_default();
return MAV_RESULT_ACCEPTED;
#else
return MAV_RESULT_UNSUPPORTED;
#endif
}
#endif
MAV_RESULT GCS_MAVLINK::handle_command_do_set_roi_sysid(const uint8_t sysid)
{
@ -5150,8 +5145,10 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
return handle_command_do_set_roi(packet);
case MAV_CMD_DO_SET_ROI_SYSID:
return handle_command_do_set_roi_sysid(packet);
#if HAL_MOUNT_ENABLED
case MAV_CMD_DO_SET_ROI_NONE:
return handle_command_do_set_roi_none();
#endif
case MAV_CMD_DO_SET_HOME:
return handle_command_do_set_home(packet);
#if AP_AHRS_POSITION_RESET_ENABLED
@ -5173,8 +5170,6 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
return scripting->handle_command_int_packet(packet);
}
#endif // AP_SCRIPTING_ENABLED
default:
break;
}
return MAV_RESULT_UNSUPPORTED;
}