From 380a1fe738f9acd66ce61e051768aea616976217 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 23 Aug 2023 17:38:07 +1000
Subject: [PATCH] Rover: accept MAV_CMD_NAV_RETURN_TO_LAUNCH as both long and
 int

---
 Rover/GCS_Mavlink.cpp | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/Rover/GCS_Mavlink.cpp b/Rover/GCS_Mavlink.cpp
index 88323f303a..2eef43bd6f 100644
--- a/Rover/GCS_Mavlink.cpp
+++ b/Rover/GCS_Mavlink.cpp
@@ -657,6 +657,12 @@ MAV_RESULT GCS_MAVLINK_Rover::handle_command_int_packet(const mavlink_command_in
         rover.control_mode->set_reversed(is_equal(packet.param1,1.0f));
         return MAV_RESULT_ACCEPTED;
 
+    case MAV_CMD_NAV_RETURN_TO_LAUNCH:
+        if (rover.set_mode(rover.mode_rtl, ModeReason::GCS_COMMAND)) {
+            return MAV_RESULT_ACCEPTED;
+        }
+        return MAV_RESULT_FAILED;
+
     default:
         return GCS_MAVLINK::handle_command_int_packet(packet, msg);
     }
@@ -666,12 +672,6 @@ MAV_RESULT GCS_MAVLINK_Rover::handle_command_long_packet(const mavlink_command_l
 {
     switch (packet.command) {
 
-    case MAV_CMD_NAV_RETURN_TO_LAUNCH:
-        if (rover.set_mode(rover.mode_rtl, ModeReason::GCS_COMMAND)) {
-            return MAV_RESULT_ACCEPTED;
-        }
-        return MAV_RESULT_FAILED;
-
     case MAV_CMD_MISSION_START:
         if (rover.set_mode(rover.mode_auto, ModeReason::GCS_COMMAND)) {
             return MAV_RESULT_ACCEPTED;