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ArduSub: accept MAV_CMD_CONDITION_YAW as both long and int in Sub

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This commit is contained in:
Peter Barker 2023-10-04 23:49:34 +11:00 committed by Randy Mackay
parent 805901dc18
commit 4843fa4c4b
2 changed files with 6 additions and 10 deletions
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14
ArduSub/GCS_Mavlink.cpp
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@ -467,6 +467,9 @@ MAV_RESULT GCS_MAVLINK_Sub::handle_command_int_packet(const mavlink_command_int_
{ {
switch(packet.command) { switch(packet.command) {
case MAV_CMD_CONDITION_YAW:
return handle_MAV_CMD_CONDITION_YAW(packet);
case MAV_CMD_DO_CHANGE_SPEED: case MAV_CMD_DO_CHANGE_SPEED:
return handle_MAV_CMD_DO_CHANGE_SPEED(packet); return handle_MAV_CMD_DO_CHANGE_SPEED(packet);
@ -503,11 +506,8 @@ MAV_RESULT GCS_MAVLINK_Sub::handle_MAV_CMD_NAV_LAND(const mavlink_command_int_t
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;
} }
MAV_RESULT GCS_MAVLINK_Sub::handle_command_long_packet(const mavlink_command_long_t &packet, const mavlink_message_t &msg) MAV_RESULT GCS_MAVLINK_Sub::handle_MAV_CMD_CONDITION_YAW(const mavlink_command_int_t &packet)
{ {
switch (packet.command) {
case MAV_CMD_CONDITION_YAW:
// param1 : target angle [0-360] // param1 : target angle [0-360]
// param2 : speed during change [deg per second] // param2 : speed during change [deg per second]
// param3 : direction (-1:ccw, +1:cw) // param3 : direction (-1:ccw, +1:cw)
@ -518,11 +518,7 @@ MAV_RESULT GCS_MAVLINK_Sub::handle_command_long_packet(const mavlink_command_lon
sub.mode_auto.set_auto_yaw_look_at_heading(packet.param1, packet.param2, (int8_t)packet.param3, (uint8_t)packet.param4); sub.mode_auto.set_auto_yaw_look_at_heading(packet.param1, packet.param2, (int8_t)packet.param3, (uint8_t)packet.param4);
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;
} }
return MAV_RESULT_FAILED; return MAV_RESULT_DENIED;
default:
return GCS_MAVLINK::handle_command_long_packet(packet, msg);
}
} }
MAV_RESULT GCS_MAVLINK_Sub::handle_MAV_CMD_DO_CHANGE_SPEED(const mavlink_command_int_t &packet) MAV_RESULT GCS_MAVLINK_Sub::handle_MAV_CMD_DO_CHANGE_SPEED(const mavlink_command_int_t &packet)

2
ArduSub/GCS_Mavlink.h
View File

@ -20,7 +20,6 @@ protected:
MAV_RESULT handle_command_do_set_roi(const Location &roi_loc) override; MAV_RESULT handle_command_do_set_roi(const Location &roi_loc) override;
MAV_RESULT _handle_command_preflight_calibration_baro(const mavlink_message_t &msg) override; MAV_RESULT _handle_command_preflight_calibration_baro(const mavlink_message_t &msg) override;
MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_int_t &packet, const mavlink_message_t &msg) override; MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_int_t &packet, const mavlink_message_t &msg) override;
MAV_RESULT handle_command_long_packet(const mavlink_command_long_t &packet, const mavlink_message_t &msg) override;
MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet, const mavlink_message_t &msg) override; MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet, const mavlink_message_t &msg) override;
@ -53,6 +52,7 @@ private:
int16_t vfr_hud_throttle() const override; int16_t vfr_hud_throttle() const override;
MAV_RESULT handle_MAV_CMD_CONDITION_YAW(const mavlink_command_int_t &packet);
MAV_RESULT handle_MAV_CMD_MISSION_START(const mavlink_command_int_t &packet); MAV_RESULT handle_MAV_CMD_MISSION_START(const mavlink_command_int_t &packet);
MAV_RESULT handle_MAV_CMD_DO_CHANGE_SPEED(const mavlink_command_int_t &packet); MAV_RESULT handle_MAV_CMD_DO_CHANGE_SPEED(const mavlink_command_int_t &packet);
MAV_RESULT handle_MAV_CMD_DO_MOTOR_TEST(const mavlink_command_int_t &packet); MAV_RESULT handle_MAV_CMD_DO_MOTOR_TEST(const mavlink_command_int_t &packet);