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Plane: move mavlink support for servo/relay up

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This commit is contained in:
Peter Barker 2017-07-14 12:47:44 +10:00 committed by Francisco Ferreira
parent b14964eb1e
commit 36eab56178
2 changed files with 6 additions and 24 deletions
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29
ArduPlane/GCS_Mavlink.cpp
View File

@ -1330,30 +1330,6 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
}
break;
case MAV_CMD_DO_SET_SERVO:
if (plane.ServoRelayEvents.do_set_servo(packet.param1, packet.param2)) {
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_DO_REPEAT_SERVO:
if (plane.ServoRelayEvents.do_repeat_servo(packet.param1, packet.param2, packet.param3, packet.param4*1000)) {
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_DO_SET_RELAY:
if (plane.ServoRelayEvents.do_set_relay(packet.param1, packet.param2)) {
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_DO_REPEAT_RELAY:
if (plane.ServoRelayEvents.do_repeat_relay(packet.param1, packet.param2, packet.param3*1000)) {
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
result = handle_preflight_reboot(packet, plane.quadplane.enable != 0);
break;
@ -2061,6 +2037,11 @@ void GCS_MAVLINK_Plane::handle_mission_set_current(AP_Mission &mission, mavlink_
}
}
AP_ServoRelayEvents *GCS_MAVLINK_Plane::get_servorelayevents() const
{
return &plane.ServoRelayEvents;
}
AP_Rally *GCS_MAVLINK_Plane::get_rally() const
{
return &plane.rally;

1
ArduPlane/GCS_Mavlink.h
View File

@ -21,6 +21,7 @@ protected:
AP_Mission *get_mission() override;
void handle_mission_set_current(AP_Mission &mission, mavlink_message_t *msg) override;
AP_ServoRelayEvents *get_servorelayevents() const override;
AP_Rally *get_rally() const override;
uint8_t sysid_my_gcs() const override;