mirror of https://github.com/ArduPilot/ardupilot
mavlink: started adding support for MAVLink 1.0
this is nowhere near complete, and does not compile yet
This commit is contained in:
Andrew Tridgell
parent
9644ff5c01
commit
2c4c00ece8
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@ -23,10 +23,85 @@ static mavlink_statustext_t pending_status;
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static NOINLINE void send_heartbeat(mavlink_channel_t chan)
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{
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#ifdef MAVLINK10
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uint8_t base_mode = 0;
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uint8_t system_status = MAV_STATE_ACTIVE;
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// we map the custom_mode to our internal mode plus 16, to lower
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// the chance that a ground station will give us 0 and we
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// interpret it as manual. This is necessary as the SET_MODE
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// command has no way to indicate that the custom_mode is filled in
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uint32_t custom_mode = control_mode + 16;
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// work out the base_mode. This value is almost completely useless
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// for APM, but we calculate it as best we can so a generic
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// MAVLink enabled ground station can work out something about
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// what the MAV is up to. The actual bit values are highly
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// ambiguous for most of the APM flight modes. In practice, you
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// only get useful information from the custom_mode, which maps to
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// the APM flight mode and has a well defined meaning in the
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// ArduPlane documentation
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switch (control_mode) {
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case MANUAL:
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base_mode = MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
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break;
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case STABILIZE:
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case FLY_BY_WIRE_A:
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case FLY_BY_WIRE_B:
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case FLY_BY_WIRE_C:
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base_mode = MAV_MODE_FLAG_STABILIZE_ENABLED;
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break;
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case AUTO:
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case RTL:
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case LOITER:
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case GUIDED:
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case CIRCLE:
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base_mode = MAV_MODE_FLAG_GUIDED_ENABLED |
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MAV_MODE_FLAG_STABILIZE_ENABLED;
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// note that MAV_MODE_FLAG_AUTO_ENABLED does not match what
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// APM does in any mode, as that is defined as "system finds its own goal
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// positions", which APM does not currently do
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break;
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case INITIALISING:
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system_status = MAV_STATE_CALIBRATING;
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break;
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}
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if (control_mode != MANUAL && control_mode != INITIALISING) {
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// stabiliser of some form is enabled
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base_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED;
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}
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#if ENABLE_STICK_MIXING==ENABLED
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if (control_mode != INITIALISING) {
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// all modes except INITIALISING have some form of manual
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// override if stick mixing is enabled
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base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
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}
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#endif
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#if HIL_MODE != HIL_MODE_DISABLED
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base_mode |= MAV_MODE_FLAG_HIL_ENABLED;
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#endif
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// we are armed if we are not initialising
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if (control_mode != INITIALISING) {
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base_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
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}
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mavlink_msg_heartbeat_send(
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chan,
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MAV_TYPE_FIXED_WING,
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MAV_AUTOPILOT_ARDUPILOTMEGA,
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base_mode,
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custom_mode,
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system_status);
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#else // MAVLINK10
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mavlink_msg_heartbeat_send(
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chan,
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mavlink_system.type,
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MAV_AUTOPILOT_ARDUPILOTMEGA);
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#endif // MAVLINK10
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}
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static NOINLINE void send_attitude(mavlink_channel_t chan)
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@ -45,6 +120,103 @@ static NOINLINE void send_attitude(mavlink_channel_t chan)
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static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t packet_drops)
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{
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#ifdef MAVLINK10
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uint32_t control_sensors_present = 0;
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uint32_t control_sensors_enabled;
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uint32_t control_sensors_health;
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// first what sensors/controllers we have
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control_sensors_present |= (1<<0); // 3D gyro present
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control_sensors_present |= (1<<1); // 3D accelerometer present
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if (g.compass_enabled) {
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control_sensors_present |= (1<<2); // compass present
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}
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control_sensors_present |= (1<<3); // absolute pressure sensor present
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if (g_gps->fix) {
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control_sensors_present |= (1<<5); // GPS present
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}
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control_sensors_present |= (1<<10); // 3D angular rate control
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control_sensors_present |= (1<<11); // attitude stabilisation
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control_sensors_present |= (1<<12); // yaw position
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control_sensors_present |= (1<<13); // altitude control
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control_sensors_present |= (1<<14); // X/Y position control
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control_sensors_present |= (1<<15); // motor control
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// now what sensors/controllers are enabled
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// first the sensors
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control_sensors_enabled = control_sensors_present & 0x1FF;
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// now the controllers
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control_sensors_enabled = control_sensors_present & 0x1FF;
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switch (control_mode) {
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case MANUAL:
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break;
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case STABILIZE:
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case FLY_BY_WIRE_A:
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control_sensors_enabled |= (1<<10); // 3D angular rate control
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control_sensors_enabled |= (1<<11); // attitude stabilisation
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break;
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case FLY_BY_WIRE_B:
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control_sensors_enabled |= (1<<10); // 3D angular rate control
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control_sensors_enabled |= (1<<11); // attitude stabilisation
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control_sensors_enabled |= (1<<15); // motor control
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break;
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case FLY_BY_WIRE_C:
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control_sensors_enabled |= (1<<10); // 3D angular rate control
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control_sensors_enabled |= (1<<11); // attitude stabilisation
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control_sensors_enabled |= (1<<13); // altitude control
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control_sensors_enabled |= (1<<15); // motor control
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break;
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case AUTO:
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case RTL:
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case LOITER:
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case GUIDED:
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case CIRCLE:
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control_sensors_enabled |= (1<<10); // 3D angular rate control
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control_sensors_enabled |= (1<<11); // attitude stabilisation
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control_sensors_enabled |= (1<<12); // yaw position
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control_sensors_enabled |= (1<<13); // altitude control
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control_sensors_enabled |= (1<<14); // X/Y position control
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control_sensors_enabled |= (1<<15); // motor control
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break;
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case INITIALISING:
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break;
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}
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// at the moment all sensors/controllers are assumed healthy
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control_sensors_health = control_sensors_present;
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uint16_t battery_current = -1;
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uint8_t battery_remaining = -1;
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if (current_total != 0 && g.pack_capacity != 0) {
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battery_remaining = (100.0 * (g.pack_capacity - current_total) / g.pack_capacity);
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}
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if (current_total != 0) {
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battery_current = current_amps * 100;
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}
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mavlink_msg_sys_status_send(
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chan,
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control_sensors_present,
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control_sensors_enabled,
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control_sensors_health,
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(uint16_t)(load * 1000),
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battery_voltage * 1000, // mV
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battery_current, // in 10mA units
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battery_remaining, // in %
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0, // comm drops %,
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0, // comm drops in pkts,
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0, 0, 0, 0);
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#else // MAVLINK10
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uint8_t mode = MAV_MODE_UNINIT;
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uint8_t nav_mode = MAV_NAV_VECTOR;
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@ -96,6 +268,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack
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battery_voltage * 1000,
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battery_remaining,
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packet_drops);
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#endif // MAVLINK10
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}
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static void NOINLINE send_meminfo(mavlink_channel_t chan)
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@ -107,6 +280,19 @@ static void NOINLINE send_meminfo(mavlink_channel_t chan)
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static void NOINLINE send_location(mavlink_channel_t chan)
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{
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Matrix3f rot = dcm.get_dcm_matrix(); // neglecting angle of attack for now
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#ifdef MAVLINK10
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mavlink_msg_global_position_int_send(
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chan,
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millis(),
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current_loc.lat, // in 1E7 degrees
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current_loc.lng, // in 1E7 degrees
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g_gps->altitude*10, // millimeters above sea level
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current_loc.alt * 10, // millimeters above ground
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g_gps->ground_speed * rot.a.x, // X speed cm/s
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g_gps->ground_speed * rot.b.x, // Y speed cm/s
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g_gps->ground_speed * rot.c.x,
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g_gps->ground_course); // course in 1/100 degree
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#else // MAVLINK10
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mavlink_msg_global_position_int_send(
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chan,
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current_loc.lat,
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@ -115,6 +301,7 @@ static void NOINLINE send_location(mavlink_channel_t chan)
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g_gps->ground_speed * rot.a.x,
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g_gps->ground_speed * rot.b.x,
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g_gps->ground_speed * rot.c.x);
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#endif // MAVLINK10
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}
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static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)
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@ -133,6 +320,28 @@ static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)
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static void NOINLINE send_gps_raw(mavlink_channel_t chan)
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{
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#ifdef MAVLINK10
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uint8_t fix;
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if (g_gps->status() == 2) {
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fix = 3;
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} else {
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fix = 0;
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}
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mavlink_msg_gps_raw_int_send(
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chan,
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micros(),
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fix,
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g_gps->latitude, // in 1E7 degrees
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g_gps->longitude, // in 1E7 degrees
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g_gps->altitude * 10, // in mm
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g_gps->hdop,
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65535,
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g_gps->ground_speed, // cm/s
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g_gps->ground_course, // 1/100 degrees,
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g_gps->num_sats);
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#else // MAVLINK10
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mavlink_msg_gps_raw_send(
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chan,
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micros(),
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@ -144,13 +353,31 @@ static void NOINLINE send_gps_raw(mavlink_channel_t chan)
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0.0,
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g_gps->ground_speed / 100.0,
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g_gps->ground_course / 100.0);
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#endif // MAVLINK10
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}
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static void NOINLINE send_servo_out(mavlink_channel_t chan)
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{
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const uint8_t rssi = 1;
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// normalized values scaled to -10000 to 10000
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// This is used for HIL. Do not change without discussing with HIL maintainers
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// This is used for HIL. Do not change without discussing with
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// HIL maintainers
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#ifdef MAVLINK10
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mavlink_msg_rc_channels_scaled_send(
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chan,
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millis(),
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0, // port 0
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10000 * g.channel_roll.norm_output(),
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10000 * g.channel_pitch.norm_output(),
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10000 * g.channel_throttle.norm_output(),
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10000 * g.channel_rudder.norm_output(),
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0,
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0,
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0,
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0,
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rssi);
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#else // MAVLINK10
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mavlink_msg_rc_channels_scaled_send(
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chan,
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10000 * g.channel_roll.norm_output(),
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@ -162,12 +389,29 @@ static void NOINLINE send_servo_out(mavlink_channel_t chan)
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0,
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0,
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rssi);
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#endif // MAVLINK10
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}
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static void NOINLINE send_radio_in(mavlink_channel_t chan)
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{
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uint8_t rssi = 1;
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#ifdef MAVLINK10
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mavlink_msg_rc_channels_raw_send(
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chan,
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millis(),
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0, // port
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g.channel_roll.radio_in,
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g.channel_pitch.radio_in,
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g.channel_throttle.radio_in,
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g.channel_rudder.radio_in,
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g.rc_5.radio_in, // XXX currently only 4 RC channels defined
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g.rc_6.radio_in,
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g.rc_7.radio_in,
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g.rc_8.radio_in,
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rssi);
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#else // MAVLINK10
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mavlink_msg_rc_channels_raw_send(
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chan,
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g.channel_roll.radio_in,
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g.channel_pitch.radio_in,
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@ -178,10 +422,25 @@ static void NOINLINE send_radio_in(mavlink_channel_t chan)
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g.rc_7.radio_in,
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g.rc_8.radio_in,
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rssi);
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#endif // MAVLINK10
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}
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static void NOINLINE send_radio_out(mavlink_channel_t chan)
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{
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#ifdef MAVLINK10
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mavlink_msg_servo_output_raw_send(
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chan,
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micros(),
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0, // port
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g.channel_roll.radio_out,
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g.channel_pitch.radio_out,
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g.channel_throttle.radio_out,
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g.channel_rudder.radio_out,
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g.rc_5.radio_out, // XXX currently only 4 RC channels defined
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g.rc_6.radio_out,
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g.rc_7.radio_out,
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g.rc_8.radio_out);
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#else // MAVLINK10
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mavlink_msg_servo_output_raw_send(
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chan,
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g.channel_roll.radio_out,
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@ -192,6 +451,7 @@ static void NOINLINE send_radio_out(mavlink_channel_t chan)
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g.rc_6.radio_out,
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g.rc_7.radio_out,
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g.rc_8.radio_out);
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#endif // MAVLINK10
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}
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static void NOINLINE send_vfr_hud(mavlink_channel_t chan)
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@ -266,9 +526,15 @@ static void NOINLINE send_gps_status(mavlink_channel_t chan)
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static void NOINLINE send_current_waypoint(mavlink_channel_t chan)
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{
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#ifdef MAVLINK10
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mavlink_msg_mission_current_send(
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chan,
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g.waypoint_index);
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#else // MAVLINK10
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mavlink_msg_waypoint_current_send(
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chan,
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g.waypoint_index);
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#endif // MAVLINK10
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}
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static void NOINLINE send_statustext(mavlink_channel_t chan)
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@ -325,7 +591,11 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
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break;
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case MSG_GPS_RAW:
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#ifdef MAVLINK10
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CHECK_PAYLOAD_SIZE(GPS_RAW_INT);
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#else
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CHECK_PAYLOAD_SIZE(GPS_RAW);
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#endif
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send_gps_raw(chan);
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break;
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@ -372,7 +642,11 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
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break;
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case MSG_CURRENT_WAYPOINT:
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#ifdef MAVLINK10
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CHECK_PAYLOAD_SIZE(MISSION_CURRENT);
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#else
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CHECK_PAYLOAD_SIZE(WAYPOINT_CURRENT);
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#endif
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send_current_waypoint(chan);
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break;
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@ -386,7 +660,11 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
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break;
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case MSG_NEXT_WAYPOINT:
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#ifdef MAVLINK10
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CHECK_PAYLOAD_SIZE(MISSION_REQUEST);
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#else
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CHECK_PAYLOAD_SIZE(WAYPOINT_REQUEST);
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#endif
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if (chan == MAVLINK_COMM_0) {
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gcs0.queued_waypoint_send();
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} else {
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@ -480,10 +758,11 @@ void mavlink_send_text(mavlink_channel_t chan, gcs_severity severity, const char
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mavlink_send_message(chan, MSG_STATUSTEXT, 0);
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} else {
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// send immediately
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mavlink_msg_statustext_send(
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chan,
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severity,
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(const int8_t*) str);
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#ifdef MAVLINK10
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mavlink_msg_statustext_send(chan, severity, str);
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#else
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mavlink_msg_statustext_send(chan, severity, (const int8_t*) str);
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#endif
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}
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}
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@ -721,6 +1000,90 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
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break;
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}
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#ifdef MAVLINK10
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case MAVLINK_MSG_ID_COMMAND_SHORT:
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{
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// decode
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mavlink_command_short_t packet;
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mavlink_msg_command_short_decode(msg, &packet);
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if (mavlink_check_target(packet.target_system, packet.target_component)) break;
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uint8_t result = 0;
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// do command
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send_text(SEVERITY_LOW,PSTR("command received: "));
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switch(packet.command) {
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#if 0
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case MAV_CMD_NAV_MISSION:
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// how would we tell what frame this is in??
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set_mode(GUIDED);
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guided_WP.id = 0;
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guided_WP.options = ;
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guided_WP.p1 = ;
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guided_WP.alt = ;
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guided_WP.lat = ;
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guided_WP.lng = ;
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set_guided_WP();
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result = 0;
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break;
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#endif
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||||
|
||||
case MAV_CMD_NAV_LOITER_UNLIM:
|
||||
set_mode(LOITER);
|
||||
result = 0;
|
||||
break;
|
||||
|
||||
#if 0
|
||||
case MAV_CMD_NAV_LOITER_TURNS:
|
||||
case MAV_CMD_NAV_LOITER_TIME:
|
||||
// after N turns/seconds what should the MAV do? self-destruct?
|
||||
break;
|
||||
#endif
|
||||
|
||||
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
|
||||
set_mode(RTL);
|
||||
result = 0;
|
||||
break;
|
||||
|
||||
#if 0
|
||||
// not implemented yet, but could implement some of them
|
||||
case MAV_CMD_NAV_LAND:
|
||||
case MAV_CMD_NAV_TAKEOFF:
|
||||
case MAV_CMD_NAV_ROI:
|
||||
case MAV_CMD_NAV_PATHPLANNING:
|
||||
break;
|
||||
#endif
|
||||
|
||||
|
||||
case MAV_CMD_PREFLIGHT_CALIBRATION:
|
||||
if (packet.param1 == 1 ||
|
||||
packet.param2 == 1 ||
|
||||
packet.param3 == 1) {
|
||||
startup_IMU_ground();
|
||||
}
|
||||
if (packet.param4 == 1) {
|
||||
trim_radio();
|
||||
}
|
||||
result = 0;
|
||||
break;
|
||||
|
||||
|
||||
default:
|
||||
result = 3;
|
||||
break;
|
||||
}
|
||||
|
||||
mavlink_msg_command_ack_send(
|
||||
chan,
|
||||
packet.command,
|
||||
result);
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
#else // MAVLINK10
|
||||
case MAVLINK_MSG_ID_ACTION:
|
||||
{
|
||||
// decode
|
||||
|
|
@ -840,6 +1203,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
|
|||
|
||||
break;
|
||||
}
|
||||
#endif
|
||||
|
||||
case MAVLINK_MSG_ID_SET_MODE:
|
||||
{
|
||||
|
|
@ -847,6 +1211,29 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
|
|||
mavlink_set_mode_t packet;
|
||||
mavlink_msg_set_mode_decode(msg, &packet);
|
||||
|
||||
#ifdef MAVLINK10
|
||||
// we ignore base_mode as there is no sane way to map
|
||||
// from that bitmap to a APM flight mode. We rely on
|
||||
// custom_mode instead.
|
||||
// see comment on custom_mode above
|
||||
int16_t adjusted_mode = packet.custom_mode - 16;
|
||||
|
||||
switch (adjusted_mode) {
|
||||
case MANUAL:
|
||||
case CIRCLE:
|
||||
case STABILIZE:
|
||||
case FLY_BY_WIRE_A:
|
||||
case FLY_BY_WIRE_B:
|
||||
case FLY_BY_WIRE_C:
|
||||
case AUTO:
|
||||
case RTL:
|
||||
case LOITER:
|
||||
set_mode(adjusted_mode);
|
||||
break;
|
||||
}
|
||||
|
||||
#else // MAVLINK10
|
||||
|
||||
switch(packet.mode){
|
||||
|
||||
case MAV_MODE_MANUAL:
|
||||
|
|
@ -876,8 +1263,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
|
|||
break;
|
||||
|
||||
}
|
||||
#endif
|
||||
break;
|
||||
}
|
||||
|
||||
#ifndef MAVLINK10
|
||||
case MAVLINK_MSG_ID_SET_NAV_MODE:
|
||||
{
|
||||
// decode
|
||||
|
|
@ -887,7 +1277,32 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
|
|||
mav_nav = packet.nav_mode;
|
||||
break;
|
||||
}
|
||||
#endif // MAVLINK10
|
||||
|
||||
|
||||
#ifdef MAVLINK10
|
||||
case MAVLINK_MSG_ID_MISSION_REQUEST_LIST:
|
||||
{
|
||||
// decode
|
||||
mavlink_mission_request_list_t packet;
|
||||
mavlink_msg_mission_request_list_decode(msg, &packet);
|
||||
if (mavlink_check_target(packet.target_system, packet.target_component))
|
||||
break;
|
||||
|
||||
// Start sending waypoints
|
||||
mavlink_msg_mission_count_send(
|
||||
chan,msg->sysid,
|
||||
msg->compid,
|
||||
g.waypoint_total + 1); // + home
|
||||
|
||||
waypoint_timelast_send = millis();
|
||||
waypoint_sending = true;
|
||||
waypoint_receiving = false;
|
||||
waypoint_dest_sysid = msg->sysid;
|
||||
waypoint_dest_compid = msg->compid;
|
||||
break;
|
||||
}
|
||||
#else // MAVLINK10
|
||||
case MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST:
|
||||
{
|
||||
// decode
|
||||
|
|
@ -909,7 +1324,116 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
|
|||
waypoint_dest_compid = msg->compid;
|
||||
break;
|
||||
}
|
||||
#endif // MAVLINK10
|
||||
|
||||
#ifdef MAVLINK10
|
||||
// read a WP from EEPROM and send it to the GCS
|
||||
case MAVLINK_MSG_ID_MISSION_REQUEST:
|
||||
{
|
||||
// decode
|
||||
mavlink_mission_request_t packet;
|
||||
mavlink_msg_mission_request_decode(msg, &packet);
|
||||
|
||||
if (mavlink_check_target(packet.target_system, packet.target_component))
|
||||
break;
|
||||
|
||||
// send waypoint
|
||||
tell_command = get_wp_with_index(packet.seq);
|
||||
|
||||
// set frame of waypoint
|
||||
uint8_t frame;
|
||||
|
||||
if (tell_command.options & MASK_OPTIONS_RELATIVE_ALT) {
|
||||
frame = MAV_FRAME_GLOBAL_RELATIVE_ALT; // reference frame
|
||||
} else {
|
||||
frame = MAV_FRAME_GLOBAL; // reference frame
|
||||
}
|
||||
|
||||
float param1 = 0, param2 = 0 , param3 = 0, param4 = 0;
|
||||
|
||||
// time that the mav should loiter in milliseconds
|
||||
uint8_t current = 0; // 1 (true), 0 (false)
|
||||
|
||||
if (packet.seq == (uint16_t)g.waypoint_index)
|
||||
current = 1;
|
||||
|
||||
uint8_t autocontinue = 1; // 1 (true), 0 (false)
|
||||
|
||||
float x = 0, y = 0, z = 0;
|
||||
|
||||
if (tell_command.id < MAV_CMD_NAV_LAST || tell_command.id == MAV_CMD_CONDITION_CHANGE_ALT) {
|
||||
// command needs scaling
|
||||
x = tell_command.lat/1.0e7; // local (x), global (latitude)
|
||||
y = tell_command.lng/1.0e7; // local (y), global (longitude)
|
||||
if (tell_command.options & MASK_OPTIONS_RELATIVE_ALT) {
|
||||
z = (tell_command.alt - home.alt) / 1.0e2; // because tell_command.alt already includes a += home.alt
|
||||
} else {
|
||||
z = tell_command.alt/1.0e2; // local (z), global/relative (altitude)
|
||||
}
|
||||
}
|
||||
|
||||
switch (tell_command.id) { // Switch to map APM command fields inot MAVLink command fields
|
||||
|
||||
case MAV_CMD_NAV_LOITER_TURNS:
|
||||
case MAV_CMD_NAV_TAKEOFF:
|
||||
case MAV_CMD_DO_SET_HOME:
|
||||
param1 = tell_command.p1;
|
||||
break;
|
||||
|
||||
case MAV_CMD_NAV_LOITER_TIME:
|
||||
param1 = tell_command.p1*10; // APM loiter time is in ten second increments
|
||||
break;
|
||||
|
||||
case MAV_CMD_CONDITION_CHANGE_ALT:
|
||||
x=0; // Clear fields loaded above that we don't want sent for this command
|
||||
y=0;
|
||||
case MAV_CMD_CONDITION_DELAY:
|
||||
case MAV_CMD_CONDITION_DISTANCE:
|
||||
param1 = tell_command.lat;
|
||||
break;
|
||||
|
||||
case MAV_CMD_DO_JUMP:
|
||||
param2 = tell_command.lat;
|
||||
param1 = tell_command.p1;
|
||||
break;
|
||||
|
||||
case MAV_CMD_DO_REPEAT_SERVO:
|
||||
param4 = tell_command.lng;
|
||||
case MAV_CMD_DO_REPEAT_RELAY:
|
||||
case MAV_CMD_DO_CHANGE_SPEED:
|
||||
param3 = tell_command.lat;
|
||||
param2 = tell_command.alt;
|
||||
param1 = tell_command.p1;
|
||||
break;
|
||||
|
||||
case MAV_CMD_DO_SET_PARAMETER:
|
||||
case MAV_CMD_DO_SET_RELAY:
|
||||
case MAV_CMD_DO_SET_SERVO:
|
||||
param2 = tell_command.alt;
|
||||
param1 = tell_command.p1;
|
||||
break;
|
||||
}
|
||||
|
||||
mavlink_msg_waypoint_send(chan,msg->sysid,
|
||||
msg->compid,
|
||||
packet.seq,
|
||||
frame,
|
||||
tell_command.id,
|
||||
current,
|
||||
autocontinue,
|
||||
param1,
|
||||
param2,
|
||||
param3,
|
||||
param4,
|
||||
x,
|
||||
y,
|
||||
z);
|
||||
|
||||
// update last waypoint comm stamp
|
||||
waypoint_timelast_send = millis();
|
||||
break;
|
||||
}
|
||||
#else // MAVLINK10
|
||||
// XXX read a WP from EEPROM and send it to the GCS
|
||||
case MAVLINK_MSG_ID_WAYPOINT_REQUEST:
|
||||
{
|
||||
|
|
@ -1020,6 +1544,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
|
|||
waypoint_timelast_send = millis();
|
||||
break;
|
||||
}
|
||||
#endif
|
||||
|
||||
case MAVLINK_MSG_ID_WAYPOINT_ACK:
|
||||
{
|
||||
|
|
|
|||
Loading…
Reference in New Issue