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Rover: accept MAV_CMD_NAV_RETURN_TO_LAUNCH as both long and int

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Peter Barker 2023-08-23 17:38:07 +10:00 committed by Peter Barker
parent b93e1d471f
commit 380a1fe738
1 changed files with 6 additions and 6 deletions
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12
Rover/GCS_Mavlink.cpp
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@ -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)); rover.control_mode->set_reversed(is_equal(packet.param1,1.0f));
return MAV_RESULT_ACCEPTED; 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: default:
return GCS_MAVLINK::handle_command_int_packet(packet, msg); 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) { 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: case MAV_CMD_MISSION_START:
if (rover.set_mode(rover.mode_auto, ModeReason::GCS_COMMAND)) { if (rover.set_mode(rover.mode_auto, ModeReason::GCS_COMMAND)) {
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;