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GCS_MAVLink: add option to execute auxillary functions via mavlink

This commit is contained in:
Peter Barker 2020-07-02 14:29:38 +10:00 committed by Peter Barker
parent 369e11c662
commit 2d61ded1f3
2 changed files with 16 additions and 1 deletions
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2
libraries/GCS_MAVLink/GCS.h
View File

@ -385,7 +385,7 @@ protected:
virtual MAV_RESULT handle_command_component_arm_disarm(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_do_set_home(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_do_aux_function(const mavlink_command_long_t &packet);
void handle_mission_request_list(const mavlink_message_t &msg);
void handle_mission_request(const mavlink_message_t &msg) const;
void handle_mission_request_int(const mavlink_message_t &msg) const;

15
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -2466,6 +2466,17 @@ void GCS_MAVLINK::send_heartbeat() const
system_status());
}
MAV_RESULT GCS_MAVLINK::handle_command_do_aux_function(const mavlink_command_long_t &packet)
{
if (packet.param2 > 2) {
return MAV_RESULT_DENIED;
}
const RC_Channel::AUX_FUNC aux_func = (RC_Channel::AUX_FUNC)packet.param1;
const RC_Channel::AuxSwitchPos position = (RC_Channel::AuxSwitchPos)packet.param2;
rc().do_aux_function(aux_func, position);
return MAV_RESULT_ACCEPTED;
}
MAV_RESULT GCS_MAVLINK::handle_command_set_message_interval(const mavlink_command_long_t &packet)
{
return set_message_interval((uint32_t)packet.param1, (int32_t)packet.param2);
@ -4138,6 +4149,10 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
}
break;
case MAV_CMD_DO_AUX_FUNCTION:
result = handle_command_do_aux_function(packet);
break;
case MAV_CMD_SET_MESSAGE_INTERVAL:
result = handle_command_set_message_interval(packet);
break;