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ArduPlane: use the new MAVLink GUIDED HEADING_TYPE_DEFAULT

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Tim Tuxworth 2024-11-05 13:58:36 +08:00 committed by Andrew Tridgell
parent 7dbb22d3b7
commit 292f7bd785
1 changed files with 14 additions and 5 deletions
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15
ArduPlane/GCS_Mavlink.cpp
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@ -863,6 +863,9 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_do_reposition(const mavlink_com
if (((int32_t)packet.param2 & MAV_DO_REPOSITION_FLAGS_CHANGE_MODE) || if (((int32_t)packet.param2 & MAV_DO_REPOSITION_FLAGS_CHANGE_MODE) ||
(plane.control_mode == &plane.mode_guided)) { (plane.control_mode == &plane.mode_guided)) {
plane.set_mode(plane.mode_guided, ModeReason::GCS_COMMAND); plane.set_mode(plane.mode_guided, ModeReason::GCS_COMMAND);
#if AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
plane.guided_state.target_heading_type = GUIDED_HEADING_NONE;
#endif
// add home alt if needed // add home alt if needed
if (requested_position.relative_alt) { if (requested_position.relative_alt) {
@ -973,14 +976,20 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_guided_slew_commands(const mavl
float new_target_heading = radians(wrap_180(packet.param2)); float new_target_heading = radians(wrap_180(packet.param2));
switch(HEADING_TYPE(packet.param1)) {
case HEADING_TYPE_COURSE_OVER_GROUND:
// course over ground // course over ground
if ( int(packet.param1) == HEADING_TYPE_COURSE_OVER_GROUND) { // compare as nearest int
plane.guided_state.target_heading_type = GUIDED_HEADING_COG; plane.guided_state.target_heading_type = GUIDED_HEADING_COG;
plane.prev_WP_loc = plane.current_loc; plane.prev_WP_loc = plane.current_loc;
break;
case HEADING_TYPE_HEADING:
// normal vehicle heading // normal vehicle heading
} else if (int(packet.param1) == HEADING_TYPE_HEADING) { // compare as nearest int
plane.guided_state.target_heading_type = GUIDED_HEADING_HEADING; plane.guided_state.target_heading_type = GUIDED_HEADING_HEADING;
} else { break;
case HEADING_TYPE_DEFAULT:
plane.guided_state.target_heading_type = GUIDED_HEADING_NONE;
return MAV_RESULT_ACCEPTED;
default:
// MAV_RESULT_DENIED means Command is invalid (is supported but has invalid parameters). // MAV_RESULT_DENIED means Command is invalid (is supported but has invalid parameters).
return MAV_RESULT_DENIED; return MAV_RESULT_DENIED;
} }