mirror of https://github.com/ArduPilot/ardupilot
GCS_MAVLink: move handling of DO_SET_HOME up to GCS_MAVLink base class
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@ -526,8 +526,8 @@ protected:
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virtual MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet, const mavlink_message_t &msg);
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virtual MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet, const mavlink_message_t &msg);
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MAV_RESULT handle_command_int_external_position_estimate(const mavlink_command_int_t &packet);
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MAV_RESULT handle_command_int_external_position_estimate(const mavlink_command_int_t &packet);
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virtual bool set_home_to_current_location(bool lock) = 0;
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bool set_home_to_current_location(bool lock);
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virtual bool set_home(const Location& loc, bool lock) = 0;
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bool set_home(const Location& loc, bool lock);
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#if AP_ARMING_ENABLED
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#if AP_ARMING_ENABLED
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virtual MAV_RESULT handle_command_component_arm_disarm(const mavlink_command_int_t &packet);
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virtual MAV_RESULT handle_command_component_arm_disarm(const mavlink_command_int_t &packet);
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@ -5057,6 +5057,23 @@ void GCS_MAVLINK::handle_landing_target(const mavlink_message_t &msg)
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}
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}
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bool GCS_MAVLINK::set_home_to_current_location(bool _lock)
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{
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#if AP_VEHICLE_ENABLED
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return AP::vehicle()->set_home_to_current_location(_lock);
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#else
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return false;
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#endif
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}
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bool GCS_MAVLINK::set_home(const Location& loc, bool _lock) {
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#if AP_VEHICLE_ENABLED
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return AP::vehicle()->set_home(loc, _lock);
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#else
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return false;
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#endif
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}
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MAV_RESULT GCS_MAVLINK::handle_command_do_set_home(const mavlink_command_int_t &packet)
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MAV_RESULT GCS_MAVLINK::handle_command_do_set_home(const mavlink_command_int_t &packet)
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{
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{
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if (is_equal(packet.param1, 1.0f) || (packet.x == 0 && packet.y == 0)) {
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if (is_equal(packet.param1, 1.0f) || (packet.x == 0 && packet.y == 0)) {
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@ -33,9 +33,6 @@ protected:
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MAV_MODE base_mode() const override { return (MAV_MODE)MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; }
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MAV_MODE base_mode() const override { return (MAV_MODE)MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; }
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MAV_STATE vehicle_system_status() const override { return MAV_STATE_CALIBRATING; }
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MAV_STATE vehicle_system_status() const override { return MAV_STATE_CALIBRATING; }
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bool set_home_to_current_location(bool _lock) override { return false; }
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bool set_home(const Location& loc, bool _lock) override { return false; }
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void send_nav_controller_output() const override {};
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void send_nav_controller_output() const override {};
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void send_pid_tuning() override {};
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void send_pid_tuning() override {};
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};
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};
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