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Copter: move common mission handling up to GCS_MAVLINK

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This commit is contained in:
Peter Barker 2017-07-08 12:51:10 +10:00 committed by Francisco Ferreira
parent 9f73d2f9d8
commit 3660236a0d
2 changed files with 8 additions and 59 deletions
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63
ArduCopter/GCS_Mavlink.cpp
View File

@ -880,64 +880,6 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
break;
}
case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST: // MAV ID: 38
{
handle_mission_write_partial_list(copter.mission, msg);
break;
}
// GCS has sent us a mission item, store to EEPROM
case MAVLINK_MSG_ID_MISSION_ITEM: // MAV ID: 39
{
if (handle_mission_item(msg, copter.mission)) {
copter.DataFlash.Log_Write_EntireMission(copter.mission);
}
break;
}
case MAVLINK_MSG_ID_MISSION_ITEM_INT:
{
if (handle_mission_item(msg, copter.mission)) {
copter.DataFlash.Log_Write_EntireMission(copter.mission);
}
break;
}
// read an individual command from EEPROM and send it to the GCS
case MAVLINK_MSG_ID_MISSION_REQUEST_INT:
case MAVLINK_MSG_ID_MISSION_REQUEST: // MAV ID: 40, 51
{
handle_mission_request(copter.mission, msg);
break;
}
case MAVLINK_MSG_ID_MISSION_SET_CURRENT: // MAV ID: 41
{
handle_mission_set_current(copter.mission, msg);
break;
}
// GCS request the full list of commands, we return just the number and leave the GCS to then request each command individually
case MAVLINK_MSG_ID_MISSION_REQUEST_LIST: // MAV ID: 43
{
handle_mission_request_list(copter.mission, msg);
break;
}
// GCS provides the full number of commands it wishes to upload
// individual commands will then be sent from the GCS using the MAVLINK_MSG_ID_MISSION_ITEM message
case MAVLINK_MSG_ID_MISSION_COUNT: // MAV ID: 44
{
handle_mission_count(copter.mission, msg);
break;
}
case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: // MAV ID: 45
{
handle_mission_clear_all(copter.mission, msg);
break;
}
case MAVLINK_MSG_ID_REQUEST_DATA_STREAM: // MAV ID: 66
{
handle_request_data_stream(msg, false);
@ -2075,3 +2017,8 @@ bool GCS_MAVLINK_Copter::accept_packet(const mavlink_status_t &status, mavlink_m
}
return (msg.sysid == copter.g.sysid_my_gcs);
}
AP_Mission *GCS_MAVLINK_Copter::get_mission()
{
return &copter.mission;
}

4
ArduCopter/GCS_Mavlink.h
View File

@ -17,7 +17,9 @@ protected:
uint32_t telem_delay() const override;
bool accept_packet(const mavlink_status_t &status, mavlink_message_t &msg) override;
AP_Mission *get_mission() override;
private:
void handleMessage(mavlink_message_t * msg) override;