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GCS_MAVLink: factor out handle_manual_control_axes

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Peter Barker 2022-11-22 14:33:22 +11:00 committed by Andrew Tridgell
parent 644c7c316d
commit 3bd62c0e68
2 changed files with 33 additions and 2 deletions
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8
libraries/GCS_MAVLink/GCS.h
View File

@ -590,6 +590,8 @@ protected:
MAV_RESULT handle_fixed_mag_cal_yaw(const mavlink_command_long_t &packet);
void handle_manual_control(const mavlink_message_t &msg);
// default empty handling of LANDING_TARGET
virtual void handle_landing_target(const mavlink_landing_target_t &packet, uint32_t timestamp_ms) { }
// vehicle-overridable message send function
@ -911,6 +913,8 @@ private:
virtual void handle_change_alt_request(AP_Mission::Mission_Command &cmd) {};
void handle_common_mission_message(const mavlink_message_t &msg);
virtual void handle_manual_control_axes(const mavlink_manual_control_t &packet, const uint32_t tnow) {};
void handle_vicon_position_estimate(const mavlink_message_t &msg);
void handle_vision_position_estimate(const mavlink_message_t &msg);
void handle_global_vision_position_estimate(const mavlink_message_t &msg);
@ -1139,10 +1143,10 @@ public:
void enable_high_latency_connections(bool enabled);
#endif // HAL_HIGH_LATENCY2_ENABLED
protected:
virtual uint8_t sysid_this_mav() const = 0;
protected:
virtual GCS_MAVLINK *new_gcs_mavlink_backend(GCS_MAVLINK_Parameters &params,
AP_HAL::UARTDriver &uart) = 0;

27
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -3803,6 +3803,10 @@ void GCS_MAVLINK::handle_common_message(const mavlink_message_t &msg)
break;
#endif
case MAVLINK_MSG_ID_MANUAL_CONTROL:
handle_manual_control(msg);
break;
#if AP_NOTIFY_MAVLINK_PLAY_TUNE_SUPPORT_ENABLED
case MAVLINK_MSG_ID_PLAY_TUNE:
// send message to Notify
@ -6299,6 +6303,29 @@ void GCS_MAVLINK::manual_override(RC_Channel *c, int16_t value_in, const uint16_
c->set_override(override_value, tnow);
}
void GCS_MAVLINK::handle_manual_control(const mavlink_message_t &msg)
{
if (msg.sysid != sysid_my_gcs()) {
return; // only accept control from our gcs
}
mavlink_manual_control_t packet;
mavlink_msg_manual_control_decode(&msg, &packet);
if (packet.target != gcs().sysid_this_mav()) {
return; // only accept control aimed at us
}
uint32_t tnow = AP_HAL::millis();
handle_manual_control_axes(packet, tnow);
// a manual control message is considered to be a 'heartbeat'
// from the ground station for failsafe purposes
gcs().sysid_myggcs_seen(tnow);
}
uint8_t GCS_MAVLINK::receiver_rssi() const
{
AP_RSSI *aprssi = AP::rssi();