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AP_Mount: move handling of all do-set-roi to AP_Mount library

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This commit is contained in:
Asif Khan 2023-08-26 02:15:03 +05:30 committed by Peter Barker
parent 725a2227ca
commit 3927521aa6
2 changed files with 22 additions and 0 deletions
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16
libraries/AP_Mount/AP_Mount.cpp
View File

@ -499,6 +499,18 @@ void AP_Mount::handle_command_gimbal_manager_set_pitchyaw(const mavlink_message_
}
}
MAV_RESULT AP_Mount::handle_command_do_set_roi_sysid(const mavlink_command_int_t &packet)
{
set_target_sysid((uint8_t)packet.param1);
return MAV_RESULT_ACCEPTED;
}
MAV_RESULT AP_Mount::handle_command_do_set_roi_none()
{
set_mode_to_default();
return MAV_RESULT_ACCEPTED;
}
MAV_RESULT AP_Mount::handle_command(const mavlink_command_int_t &packet, const mavlink_message_t &msg)
{
switch (packet.command) {
@ -510,6 +522,10 @@ MAV_RESULT AP_Mount::handle_command(const mavlink_command_int_t &packet, const m
return handle_command_do_gimbal_manager_pitchyaw(packet);
case MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE:
return handle_command_do_gimbal_manager_configure(packet, msg);
case MAV_CMD_DO_SET_ROI_SYSID:
return handle_command_do_set_roi_sysid(packet);
case MAV_CMD_DO_SET_ROI_NONE:
return handle_command_do_set_roi_none();
default:
return MAV_RESULT_UNSUPPORTED;
}

6
libraries/AP_Mount/AP_Mount.h
View File

@ -177,6 +177,12 @@ public:
void set_target_sysid(uint8_t sysid) { set_target_sysid(_primary, sysid); }
void set_target_sysid(uint8_t instance, uint8_t sysid);
// handling of set_roi_sysid message
MAV_RESULT handle_command_do_set_roi_sysid(const mavlink_command_int_t &packet);
// handling of set_roi_none message
MAV_RESULT handle_command_do_set_roi_none();
// mavlink message handling:
MAV_RESULT handle_command(const mavlink_command_int_t &packet, const mavlink_message_t &msg);
void handle_param_value(const mavlink_message_t &msg);