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Rover: factor out handle_manual_control_axes

This commit is contained in:
Peter Barker 2022-11-22 14:40:31 +11:00 committed by Andrew Tridgell
parent 447392c7f4
commit 38ea1b4039
2 changed files with 2 additions and 22 deletions
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22
Rover/GCS_Mavlink.cpp
View File

@ -769,9 +769,6 @@ MAV_RESULT GCS_MAVLINK_Rover::handle_command_int_do_reposition(const mavlink_com
void GCS_MAVLINK_Rover::handleMessage(const mavlink_message_t &msg)
{
switch (msg.msgid) {
case MAVLINK_MSG_ID_MANUAL_CONTROL:
handle_manual_control(msg);
break;
case MAVLINK_MSG_ID_SET_ATTITUDE_TARGET:
handle_set_attitude_target(msg);
@ -796,27 +793,10 @@ void GCS_MAVLINK_Rover::handleMessage(const mavlink_message_t &msg)
}
}
void GCS_MAVLINK_Rover::handle_manual_control(const mavlink_message_t &msg)
void GCS_MAVLINK_Rover::handle_manual_control_axes(const mavlink_manual_control_t &packet, const uint32_t tnow)
{
if (msg.sysid != rover.g.sysid_my_gcs) { // Only accept control from our gcs
return;
}
mavlink_manual_control_t packet;
mavlink_msg_manual_control_decode(&msg, &packet);
if (packet.target != rover.g.sysid_this_mav) {
return; // only accept control aimed at us
}
uint32_t tnow = AP_HAL::millis();
manual_override(rover.channel_steer, packet.y, 1000, 2000, tnow);
manual_override(rover.channel_throttle, packet.z, 1000, 2000, tnow);
// a manual control message is considered to be a 'heartbeat' from
// the ground station for failsafe purposes
gcs().sysid_myggcs_seen(tnow);
}
void GCS_MAVLINK_Rover::handle_set_attitude_target(const mavlink_message_t &msg)

2
Rover/GCS_Mavlink.h
View File

@ -37,7 +37,7 @@ private:
bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
bool try_send_message(enum ap_message id) override;
void handle_manual_control(const mavlink_message_t &msg);
void handle_manual_control_axes(const mavlink_manual_control_t &packet, const uint32_t tnow) override;
void handle_set_attitude_target(const mavlink_message_t &msg);
void handle_set_position_target_local_ned(const mavlink_message_t &msg);
void handle_set_position_target_global_int(const mavlink_message_t &msg);