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Copter: move handling of visual odometry messages up

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This commit is contained in:
Peter Barker 2018-03-08 09:52:48 +11:00 committed by Randy Mackay
parent 4f0cf6d334
commit 41960704b0
4 changed files with 11 additions and 8 deletions
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16
ArduCopter/GCS_Mavlink.cpp
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@ -1719,12 +1719,6 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
#endif #endif
break; break;
case MAVLINK_MSG_ID_VISION_POSITION_DELTA:
#if VISUAL_ODOMETRY_ENABLED == ENABLED
copter.g2.visual_odom.handle_msg(msg);
#endif
break;
#if TOY_MODE_ENABLED == ENABLED #if TOY_MODE_ENABLED == ENABLED
case MAVLINK_MSG_ID_NAMED_VALUE_INT: case MAVLINK_MSG_ID_NAMED_VALUE_INT:
copter.g2.toy_mode.handle_message(msg); copter.g2.toy_mode.handle_message(msg);
@ -1842,6 +1836,16 @@ AP_AdvancedFailsafe *GCS_MAVLINK_Copter::get_advanced_failsafe() const
#endif #endif
} }
AP_VisualOdom *GCS_MAVLINK_Copter::get_visual_odom() const
{
#if VISUAL_ODOMETRY_ENABLED == ENABLED
return &copter.g2.visual_odom;
#else
return nullptr;
#endif
}
MAV_RESULT GCS_MAVLINK_Copter::handle_flight_termination(const mavlink_command_long_t &packet) { MAV_RESULT GCS_MAVLINK_Copter::handle_flight_termination(const mavlink_command_long_t &packet) {
MAV_RESULT result = MAV_RESULT_FAILED; MAV_RESULT result = MAV_RESULT_FAILED;

1
ArduCopter/GCS_Mavlink.h
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@ -25,6 +25,7 @@ protected:
AP_ServoRelayEvents *get_servorelayevents() const override; AP_ServoRelayEvents *get_servorelayevents() const override;
MAV_RESULT handle_flight_termination(const mavlink_command_long_t &packet) override; MAV_RESULT handle_flight_termination(const mavlink_command_long_t &packet) override;
AP_AdvancedFailsafe *get_advanced_failsafe() const override; AP_AdvancedFailsafe *get_advanced_failsafe() const override;
AP_VisualOdom *get_visual_odom() const override;
const AP_FWVersion &get_fwver() const override; const AP_FWVersion &get_fwver() const override;
void set_ekf_origin(const Location& loc) override; void set_ekf_origin(const Location& loc) override;

1
ArduCopter/make.inc
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@ -62,7 +62,6 @@ LIBRARIES += AP_Stats
LIBRARIES += AP_Gripper LIBRARIES += AP_Gripper
LIBRARIES += AP_Beacon LIBRARIES += AP_Beacon
LIBRARIES += AP_Arming LIBRARIES += AP_Arming
LIBRARIES += AP_VisualOdom
LIBRARIES += AP_SmartRTL LIBRARIES += AP_SmartRTL
LIBRARIES += AP_Winch LIBRARIES += AP_Winch
LIBRARIES += AP_WheelEncoder LIBRARIES += AP_WheelEncoder

1
ArduCopter/wscript
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@ -32,7 +32,6 @@ def build(bld):
'AP_Gripper', 'AP_Gripper',
'AP_Beacon', 'AP_Beacon',
'AP_Arming', 'AP_Arming',
'AP_VisualOdom',
'AP_WheelEncoder', 'AP_WheelEncoder',
'AP_Winch', 'AP_Winch',
'AP_Follow', 'AP_Follow',