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Plane: move handling of gimbal messages up

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Plane: move handling of mav_cmd_do_mount_control up

Plane: move handling of deprecated mount messages up

Plane: move handling of command_do_set_roi up

Plane: mount no longer takes ahrs in constructor
This commit is contained in:
Peter Barker 2018-08-26 22:01:06 +10:00 committed by Peter Barker
parent 9a263780d0
commit 27b444f4e8
2 changed files with 1 additions and 68 deletions
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67
ArduPlane/GCS_Mavlink.cpp
View File

@ -470,13 +470,6 @@ bool GCS_MAVLINK_Plane::try_send_message(enum ap_message id)
plane.send_wind(chan);
break;
case MSG_MOUNT_STATUS:
#if MOUNT == ENABLED
CHECK_PAYLOAD_SIZE(MOUNT_STATUS);
plane.camera_mount.status_msg(chan);
#endif // MOUNT == ENABLED
break;
case MSG_OPTICAL_FLOW:
#if OPTFLOW == ENABLED
if (plane.optflow.enabled()) {
@ -486,13 +479,6 @@ bool GCS_MAVLINK_Plane::try_send_message(enum ap_message id)
#endif
break;
case MSG_GIMBAL_REPORT:
#if MOUNT == ENABLED
CHECK_PAYLOAD_SIZE(GIMBAL_REPORT);
plane.camera_mount.send_gimbal_report(chan);
#endif
break;
case MSG_PID_TUNING:
if (plane.control_mode != MANUAL) {
CHECK_PAYLOAD_SIZE(PID_TUNING);
@ -926,35 +912,6 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
return MAV_RESULT_FAILED;
}
#if MOUNT == ENABLED
// Sets the region of interest (ROI) for the camera
case MAV_CMD_DO_SET_ROI:
// sanity check location
if (!check_latlng(packet.param5, packet.param6)) {
return MAV_RESULT_FAILED;
}
Location roi_loc;
roi_loc.lat = (int32_t)(packet.param5 * 1.0e7f);
roi_loc.lng = (int32_t)(packet.param6 * 1.0e7f);
roi_loc.alt = (int32_t)(packet.param7 * 100.0f);
if (roi_loc.lat == 0 && roi_loc.lng == 0 && roi_loc.alt == 0) {
// switch off the camera tracking if enabled
if (plane.camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) {
plane.camera_mount.set_mode_to_default();
}
} else {
// send the command to the camera mount
plane.camera_mount.set_roi_target(roi_loc);
}
return MAV_RESULT_ACCEPTED;
#endif
#if MOUNT == ENABLED
case MAV_CMD_DO_MOUNT_CONTROL:
plane.camera_mount.control(packet.param1, packet.param2, packet.param3, (MAV_MOUNT_MODE) packet.param7);
return MAV_RESULT_ACCEPTED;
#endif
case MAV_CMD_MISSION_START:
plane.set_mode(AUTO, MODE_REASON_GCS_COMMAND);
return MAV_RESULT_ACCEPTED;
@ -1164,14 +1121,6 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
}
#endif // GEOFENCE_ENABLED
case MAVLINK_MSG_ID_GIMBAL_REPORT:
{
#if MOUNT == ENABLED
handle_gimbal_report(plane.camera_mount, msg);
#endif
break;
}
case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE:
{
// allow override of RC channel values for HIL
@ -1303,22 +1252,6 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
break;
}
#if MOUNT == ENABLED
//deprecated. Use MAV_CMD_DO_MOUNT_CONFIGURE
case MAVLINK_MSG_ID_MOUNT_CONFIGURE:
{
plane.camera_mount.configure_msg(msg);
break;
}
//deprecated. Use MAV_CMD_DO_MOUNT_CONTROL
case MAVLINK_MSG_ID_MOUNT_CONTROL:
{
plane.camera_mount.control_msg(msg);
break;
}
#endif // MOUNT == ENABLED
case MAVLINK_MSG_ID_RADIO:
case MAVLINK_MSG_ID_RADIO_STATUS:
{

2
ArduPlane/Plane.h
View File

@ -745,7 +745,7 @@ private:
// Camera/Antenna mount tracking and stabilisation stuff
#if MOUNT == ENABLED
// current_loc uses the baro/gps soloution for altitude rather than gps only.
AP_Mount camera_mount{ahrs, current_loc};
AP_Mount camera_mount{current_loc};
#endif
// Arming/Disarming mangement class