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AP_Mission: Support disarmed starts in engine control

This commit is contained in:
Michael du Breuil 2023-09-28 11:51:37 -07:00 committed by WickedShell
parent b630efd4db
commit 3a711b49e2
2 changed files with 5 additions and 0 deletions
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4
libraries/AP_Mission/AP_Mission.cpp
View File

@ -1247,6 +1247,7 @@ MAV_MISSION_RESULT AP_Mission::mavlink_int_to_mission_cmd(const mavlink_mission_
cmd.content.do_engine_control.start_control = (packet.param1>0); cmd.content.do_engine_control.start_control = (packet.param1>0);
cmd.content.do_engine_control.cold_start = (packet.param2>0); cmd.content.do_engine_control.cold_start = (packet.param2>0);
cmd.content.do_engine_control.height_delay_cm = packet.param3*100; cmd.content.do_engine_control.height_delay_cm = packet.param3*100;
cmd.content.do_engine_control.allow_disarmed_start = (((uint32_t)packet.param4) & ENGINE_CONTROL_OPTIONS_ALLOW_START_WHILE_DISARMED) != 0;
break; break;
case MAV_CMD_NAV_PAYLOAD_PLACE: case MAV_CMD_NAV_PAYLOAD_PLACE:
@ -1751,6 +1752,9 @@ bool AP_Mission::mission_cmd_to_mavlink_int(const AP_Mission::Mission_Command& c
packet.param1 = cmd.content.do_engine_control.start_control?1:0; packet.param1 = cmd.content.do_engine_control.start_control?1:0;
packet.param2 = cmd.content.do_engine_control.cold_start?1:0; packet.param2 = cmd.content.do_engine_control.cold_start?1:0;
packet.param3 = cmd.content.do_engine_control.height_delay_cm*0.01f; packet.param3 = cmd.content.do_engine_control.height_delay_cm*0.01f;
if (cmd.content.do_engine_control.allow_disarmed_start) {
packet.param4 = ENGINE_CONTROL_OPTIONS_ALLOW_START_WHILE_DISARMED;
}
break; break;
case MAV_CMD_NAV_PAYLOAD_PLACE: case MAV_CMD_NAV_PAYLOAD_PLACE:

1
libraries/AP_Mission/AP_Mission.h
View File

@ -203,6 +203,7 @@ public:
bool start_control; // start or stop engine bool start_control; // start or stop engine
bool cold_start; // use cold start procedure bool cold_start; // use cold start procedure
uint16_t height_delay_cm; // height delay for start uint16_t height_delay_cm; // height delay for start
bool allow_disarmed_start; // allow starting the engine while disarmed
}; };
// NAV_SET_YAW_SPEED support // NAV_SET_YAW_SPEED support