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Sub: move handling of MAV_CMD_DO_GRIPPER up

This commit is contained in:
Peter Barker 2018-06-08 16:23:06 +10:00 committed by Francisco Ferreira
parent 955baa47c2
commit 32b8b86019
3 changed files with 0 additions and 25 deletions
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23
ArduSub/GCS_Mavlink.cpp
View File

@ -990,29 +990,6 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
// param4 : timeout (in seconds) // param4 : timeout (in seconds)
break; break;
#if GRIPPER_ENABLED == ENABLED
case MAV_CMD_DO_GRIPPER:
// param1 : gripper number (ignored)
// param2 : action (0=release, 1=grab). See GRIPPER_ACTIONS enum.
if (!sub.g2.gripper.enabled()) {
result = MAV_RESULT_FAILED;
} else {
result = MAV_RESULT_ACCEPTED;
switch ((uint8_t)packet.param2) {
case GRIPPER_ACTION_RELEASE:
sub.g2.gripper.release();
break;
case GRIPPER_ACTION_GRAB:
sub.g2.gripper.grab();
break;
default:
result = MAV_RESULT_FAILED;
break;
}
}
break;
#endif
default: default:
result = handle_command_long_message(packet); result = handle_command_long_message(packet);
break; break;

1
ArduSub/make.inc
View File

@ -46,7 +46,6 @@ LIBRARIES += AP_Terrain
LIBRARIES += AP_RPM LIBRARIES += AP_RPM
LIBRARIES += AP_JSButton LIBRARIES += AP_JSButton
LIBRARIES += AP_LeakDetector LIBRARIES += AP_LeakDetector
LIBRARIES += AP_Gripper
LIBRARIES += AP_Beacon LIBRARIES += AP_Beacon
LIBRARIES += AP_TemperatureSensor LIBRARIES += AP_TemperatureSensor
LIBRARIES += AP_Arming LIBRARIES += AP_Arming

1
ArduSub/wscript
View File

@ -18,7 +18,6 @@ def build(bld):
'AP_LeakDetector', 'AP_LeakDetector',
'AP_Motors', 'AP_Motors',
'AP_RCMapper', 'AP_RCMapper',
'AP_Gripper',
'AP_Beacon', 'AP_Beacon',
'AP_TemperatureSensor', 'AP_TemperatureSensor',
'AP_Arming' 'AP_Arming'