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GCS_MAVLink: make guided-mode-change-alt and guided-mode-wp dependant on AP_MISSION_ENABLED 

We really should not be using Mission_Command to transfer information between the base-class GCS_MAVLink and subclasses like GCS_MAVLink_Plane.  But until we fix that we can exclude the code if Mission is not available (like on peripherals...)
This commit is contained in:
Peter Barker 2024-02-13 15:07:35 +11:00 committed by Peter Barker
parent 29cd0ab179
commit 43adaf3714
2 changed files with 16 additions and 2 deletions
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16
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -54,6 +54,7 @@
#include <AP_Scripting/AP_Scripting.h>
#include <SRV_Channel/SRV_Channel.h>
#include <AP_Winch/AP_Winch.h>
#include <AP_Mission/AP_Mission.h>
#include <AP_OpenDroneID/AP_OpenDroneID.h>
#include <AP_OSD/AP_OSD.h>
#include <AP_RCTelemetry/AP_CRSF_Telem.h>
@ -887,19 +888,31 @@ void GCS_MAVLINK::handle_mission_item(const mavlink_message_t &msg)
if (msg.msgid == MAVLINK_MSG_ID_MISSION_ITEM) {
mavlink_mission_item_t mission_item;
mavlink_msg_mission_item_decode(&msg, &mission_item);
#if AP_MISSION_ENABLED
MAV_MISSION_RESULT ret = AP_Mission::convert_MISSION_ITEM_to_MISSION_ITEM_INT(mission_item, mission_item_int);
if (ret != MAV_MISSION_ACCEPTED) {
const MAV_MISSION_TYPE type = (MAV_MISSION_TYPE)mission_item_int.mission_type;
send_mission_ack(msg, type, ret);
return;
}
#else
// No mission library, so we can't convert from MISSION_ITEM
// to MISSION_ITEM_INT. Since we shouldn't be receiving fence
// or rally items via MISSION_ITEM, we don't need to work hard
// here, just fail:
const MAV_MISSION_TYPE type = (MAV_MISSION_TYPE)mission_item.mission_type;
send_mission_ack(msg, type, MAV_MISSION_UNSUPPORTED);
return;
#endif
send_mission_item_warning = true;
} else {
mavlink_msg_mission_item_int_decode(&msg, &mission_item_int);
}
const uint8_t current = mission_item_int.current;
const MAV_MISSION_TYPE type = (MAV_MISSION_TYPE)mission_item_int.mission_type;
#if AP_MISSION_ENABLED
const uint8_t current = mission_item_int.current;
if (type == MAV_MISSION_TYPE_MISSION && (current == 2 || current == 3)) {
struct AP_Mission::Mission_Command cmd = {};
MAV_MISSION_RESULT result = AP_Mission::mavlink_int_to_mission_cmd(mission_item_int, cmd);
@ -925,6 +938,7 @@ void GCS_MAVLINK::handle_mission_item(const mavlink_message_t &msg)
send_mission_ack(msg, MAV_MISSION_TYPE_MISSION, result);
return;
}
#endif
// not a guided-mode reqest
MissionItemProtocol *prot = gcs().get_prot_for_mission_type(type);

2
libraries/GCS_MAVLink/GCS_config.h
View File

@ -89,7 +89,7 @@
// sending warnings to the GCS in Sep 2022 if this command was used.
// Copter 4.4.0 sends this warning.
#ifndef AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED
#define AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED 1
#define AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED AP_MISSION_ENABLED
#endif
// all commands can be executed by COMMAND_INT, so COMMAND_LONG isn't