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GCS_MAVLink: move handling of DO_SET_HOME up to GCS_MAVLink base class

This commit is contained in:
Peter Barker 2024-04-03 21:40:30 +11:00 committed by Andrew Tridgell
parent d78e96cc6b
commit 420f80db75
3 changed files with 19 additions and 5 deletions
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4
libraries/GCS_MAVLink/GCS.h
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@ -526,8 +526,8 @@ protected:
virtual MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet, const mavlink_message_t &msg);
MAV_RESULT handle_command_int_external_position_estimate(const mavlink_command_int_t &packet);
virtual bool set_home_to_current_location(bool lock) = 0;
virtual bool set_home(const Location& loc, bool lock) = 0;
bool set_home_to_current_location(bool lock);
bool set_home(const Location& loc, bool lock);
#if AP_ARMING_ENABLED
virtual MAV_RESULT handle_command_component_arm_disarm(const mavlink_command_int_t &packet);

17
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -5057,6 +5057,23 @@ void GCS_MAVLINK::handle_landing_target(const mavlink_message_t &msg)
}
bool GCS_MAVLINK::set_home_to_current_location(bool _lock)
{
#if AP_VEHICLE_ENABLED
return AP::vehicle()->set_home_to_current_location(_lock);
#else
return false;
#endif
}
bool GCS_MAVLINK::set_home(const Location& loc, bool _lock) {
#if AP_VEHICLE_ENABLED
return AP::vehicle()->set_home(loc, _lock);
#else
return false;
#endif
}
MAV_RESULT GCS_MAVLINK::handle_command_do_set_home(const mavlink_command_int_t &packet)
{
if (is_equal(packet.param1, 1.0f) || (packet.x == 0 && packet.y == 0)) {

3
libraries/GCS_MAVLink/GCS_Dummy.h
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@ -33,9 +33,6 @@ protected:
MAV_MODE base_mode() const override { return (MAV_MODE)MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; }
MAV_STATE vehicle_system_status() const override { return MAV_STATE_CALIBRATING; }
bool set_home_to_current_location(bool _lock) override { return false; }
bool set_home(const Location& loc, bool _lock) override { return false; }
void send_nav_controller_output() const override {};
void send_pid_tuning() override {};
};