Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Plane: factor out handle_manual_control_axes

This commit is contained in:
Peter Barker 2022-11-22 14:35:46 +11:00 committed by Andrew Tridgell
parent c5a3dfaa57
commit 447392c7f4
2 changed files with 13 additions and 26 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

37
ArduPlane/GCS_Mavlink.cpp
View File

@ -1175,36 +1175,21 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
}
}
// this is called on receipt of a MANUAL_CONTROL packet and is
// expected to call manual_override to override RC input on desired
// axes.
void GCS_MAVLINK_Plane::handle_manual_control_axes(const mavlink_manual_control_t &packet, const uint32_t tnow)
{
manual_override(plane.channel_roll, packet.y, 1000, 2000, tnow);
manual_override(plane.channel_pitch, packet.x, 1000, 2000, tnow, true);
manual_override(plane.channel_throttle, packet.z, 0, 1000, tnow);
manual_override(plane.channel_rudder, packet.r, 1000, 2000, tnow);
}
void GCS_MAVLINK_Plane::handleMessage(const mavlink_message_t &msg)
{
switch (msg.msgid) {
case MAVLINK_MSG_ID_MANUAL_CONTROL:
{
if (msg.sysid != plane.g.sysid_my_gcs) {
break; // only accept control from our gcs
}
mavlink_manual_control_t packet;
mavlink_msg_manual_control_decode(&msg, &packet);
if (packet.target != plane.g.sysid_this_mav) {
break; // only accept messages aimed at us
}
uint32_t tnow = AP_HAL::millis();
manual_override(plane.channel_roll, packet.y, 1000, 2000, tnow);
manual_override(plane.channel_pitch, packet.x, 1000, 2000, tnow, true);
manual_override(plane.channel_throttle, packet.z, 0, 1000, tnow);
manual_override(plane.channel_rudder, packet.r, 1000, 2000, tnow);
// a manual control message is considered to be a 'heartbeat'
// from the ground station for failsafe purposes
gcs().sysid_myggcs_seen(tnow);
break;
}
case MAVLINK_MSG_ID_RADIO:
case MAVLINK_MSG_ID_RADIO_STATUS:
{

2
ArduPlane/GCS_Mavlink.h
View File

@ -40,6 +40,8 @@ protected:
void send_nav_controller_output() const override;
void send_pid_tuning() override;
void handle_manual_control_axes(const mavlink_manual_control_t &packet, const uint32_t tnow) override;
private:
void send_pid_info(const AP_PIDInfo *pid_info, const uint8_t axis, const float achieved);