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GCS_MAVLink: pass mavlink acks into accelcal library if it exists

This commit is contained in:
Peter Barker 2018-03-17 18:46:47 +11:00 committed by Randy Mackay
parent 9ad058783a
commit 484d97597b
2 changed files with 14 additions and 1 deletions
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1
libraries/GCS_MAVLink/GCS.h
View File

@ -252,6 +252,7 @@ protected:
void handle_request_data_stream(mavlink_message_t *msg, bool save);
virtual void handle_command_ack(const mavlink_message_t* msg);
void handle_set_mode(mavlink_message_t* msg);
void handle_mission_request_list(AP_Mission &mission, mavlink_message_t *msg);
void handle_mission_request(AP_Mission &mission, mavlink_message_t *msg);

14
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -1869,7 +1869,6 @@ void GCS_MAVLINK::handle_vision_position_delta(mavlink_message_t *msg)
if (visual_odom == nullptr) {
return;
}
visual_odom->handle_msg(msg);
}
@ -1959,12 +1958,25 @@ void GCS_MAVLINK::handle_att_pos_mocap(mavlink_message_t *msg)
reset_timestamp_ms);
}
void GCS_MAVLINK::handle_command_ack(const mavlink_message_t* msg)
{
AP_AccelCal *accelcal = AP::ins().get_acal();
if (accelcal != nullptr) {
accelcal->handleMessage(msg);
}
}
/*
handle messages which don't require vehicle specific data
*/
void GCS_MAVLINK::handle_common_message(mavlink_message_t *msg)
{
switch (msg->msgid) {
case MAVLINK_MSG_ID_COMMAND_ACK: {
handle_command_ack(msg);
break;
}
case MAVLINK_MSG_ID_SETUP_SIGNING:
handle_setup_signing(msg);
break;