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GCS_MAVLink: fixes for updated mavlink

This commit is contained in:
Andrew Tridgell 2017-04-11 21:41:45 +10:00 committed by Francisco Ferreira
parent 4e63955ddb
commit 3080f66d16
1 changed files with 18 additions and 9 deletions
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27
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -209,7 +209,8 @@ GCS_MAVLINK::queued_waypoint_send()
chan, chan,
waypoint_dest_sysid, waypoint_dest_sysid,
waypoint_dest_compid, waypoint_dest_compid,
waypoint_request_i); waypoint_request_i,
MAV_MISSION_TYPE_MISSION);
} }
} }
@ -275,7 +276,8 @@ void GCS_MAVLINK::handle_mission_request_list(AP_Mission &mission, mavlink_messa
mavlink_msg_mission_request_list_decode(msg, &packet); mavlink_msg_mission_request_list_decode(msg, &packet);
// reply with number of commands in the mission. The GCS will then request each command separately // reply with number of commands in the mission. The GCS will then request each command separately
mavlink_msg_mission_count_send(chan,msg->sysid, msg->compid, mission.num_commands()); mavlink_msg_mission_count_send(chan,msg->sysid, msg->compid, mission.num_commands(),
MAV_MISSION_TYPE_MISSION);
// set variables to help handle the expected sending of commands to the GCS // set variables to help handle the expected sending of commands to the GCS
waypoint_receiving = false; // record that we are sending commands (i.e. not receiving) waypoint_receiving = false; // record that we are sending commands (i.e. not receiving)
@ -340,7 +342,8 @@ void GCS_MAVLINK::handle_mission_request(AP_Mission &mission, mavlink_message_t
if (packet.seq != 0 && // always allow HOME to be read if (packet.seq != 0 && // always allow HOME to be read
packet.seq >= mission.num_commands()) { packet.seq >= mission.num_commands()) {
// try to educate the GCS on the actual size of the mission: // try to educate the GCS on the actual size of the mission:
mavlink_msg_mission_count_send(chan,msg->sysid, msg->compid, mission.num_commands()); mavlink_msg_mission_count_send(chan,msg->sysid, msg->compid, mission.num_commands(),
MAV_MISSION_TYPE_MISSION);
goto mission_item_send_failed; goto mission_item_send_failed;
} }
@ -387,7 +390,8 @@ void GCS_MAVLINK::handle_mission_request(AP_Mission &mission, mavlink_message_t
mission_item_send_failed: mission_item_send_failed:
// send failure message // send failure message
mavlink_msg_mission_ack_send(chan, msg->sysid, msg->compid, MAV_MISSION_ERROR); mavlink_msg_mission_ack_send(chan, msg->sysid, msg->compid, MAV_MISSION_ERROR,
MAV_MISSION_TYPE_MISSION);
} }
/* /*
@ -417,7 +421,8 @@ void GCS_MAVLINK::handle_mission_count(AP_Mission &mission, mavlink_message_t *m
// start waypoint receiving // start waypoint receiving
if (packet.count > mission.num_commands_max()) { if (packet.count > mission.num_commands_max()) {
// send NAK // send NAK
mavlink_msg_mission_ack_send(chan, msg->sysid, msg->compid, MAV_MISSION_NO_SPACE); mavlink_msg_mission_ack_send(chan, msg->sysid, msg->compid, MAV_MISSION_NO_SPACE,
MAV_MISSION_TYPE_MISSION);
return; return;
} }
@ -444,10 +449,12 @@ void GCS_MAVLINK::handle_mission_clear_all(AP_Mission &mission, mavlink_message_
// clear all waypoints // clear all waypoints
if (mission.clear()) { if (mission.clear()) {
// send ack // send ack
mavlink_msg_mission_ack_send(chan, msg->sysid, msg->compid, MAV_RESULT_ACCEPTED); mavlink_msg_mission_ack_send(chan, msg->sysid, msg->compid, MAV_RESULT_ACCEPTED,
MAV_MISSION_TYPE_MISSION);
}else{ }else{
// send nack // send nack
mavlink_msg_mission_ack_send(chan, msg->sysid, msg->compid, MAV_MISSION_ERROR); mavlink_msg_mission_ack_send(chan, msg->sysid, msg->compid, MAV_MISSION_ERROR,
MAV_MISSION_TYPE_MISSION);
} }
} }
@ -872,7 +879,8 @@ bool GCS_MAVLINK::handle_mission_item(mavlink_message_t *msg, AP_Mission &missio
chan, chan,
msg->sysid, msg->sysid,
msg->compid, msg->compid,
MAV_MISSION_ACCEPTED); MAV_MISSION_ACCEPTED,
MAV_MISSION_TYPE_MISSION);
send_text(MAV_SEVERITY_INFO,"Flight plan received"); send_text(MAV_SEVERITY_INFO,"Flight plan received");
waypoint_receiving = false; waypoint_receiving = false;
@ -897,7 +905,8 @@ mission_ack:
chan, chan,
msg->sysid, msg->sysid,
msg->compid, msg->compid,
result); result,
MAV_MISSION_TYPE_MISSION);
return mission_is_complete; return mission_is_complete;
} }