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

Copter: accept solo buttons as both long and int

This commit is contained in:
Peter Barker 2023-08-31 10:08:54 +10:00 committed by Andrew Tridgell
parent 5a996952f6
commit 496e6b18ff
2 changed files with 19 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

28
ArduCopter/GCS_Mavlink.cpp
View File

@ -760,6 +760,12 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_packet(const mavlink_command_i
// Solo user presses pause button
case MAV_CMD_SOLO_BTN_PAUSE_CLICK:
return handle_MAV_CMD_SOLO_BTN_PAUSE_CLICK(packet);
// Solo user presses Fly button:
case MAV_CMD_SOLO_BTN_FLY_HOLD:
return handle_MAV_CMD_SOLO_BTN_FLY_HOLD(packet);
// Solo user holds down Fly button for a couple of seconds
case MAV_CMD_SOLO_BTN_FLY_CLICK:
return handle_MAV_CMD_SOLO_BTN_FLY_CLICK(packet);
#endif
default:
@ -942,8 +948,14 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
return MAV_RESULT_FAILED;
#endif
/* Solo user presses Fly button */
case MAV_CMD_SOLO_BTN_FLY_CLICK: {
default:
return GCS_MAVLINK::handle_command_long_packet(packet, msg);
}
}
#if AC_MAVLINK_SOLO_BUTTON_COMMAND_HANDLING_ENABLED
MAV_RESULT GCS_MAVLINK_Copter::handle_MAV_CMD_SOLO_BTN_FLY_CLICK(const mavlink_command_int_t &packet)
{
if (copter.failsafe.radio) {
return MAV_RESULT_ACCEPTED;
}
@ -953,10 +965,10 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
copter.set_mode(Mode::Number::ALT_HOLD, ModeReason::GCS_COMMAND);
}
return MAV_RESULT_ACCEPTED;
}
}
/* Solo user holds down Fly button for a couple of seconds */
case MAV_CMD_SOLO_BTN_FLY_HOLD: {
MAV_RESULT GCS_MAVLINK_Copter::handle_MAV_CMD_SOLO_BTN_FLY_HOLD(const mavlink_command_int_t &packet)
{
if (copter.failsafe.radio) {
return MAV_RESULT_ACCEPTED;
}
@ -974,14 +986,8 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
copter.set_mode(Mode::Number::LAND, ModeReason::GCS_COMMAND);
}
return MAV_RESULT_ACCEPTED;
}
default:
return GCS_MAVLINK::handle_command_long_packet(packet, msg);
}
}
#if AC_MAVLINK_SOLO_BUTTON_COMMAND_HANDLING_ENABLED
MAV_RESULT GCS_MAVLINK_Copter::handle_MAV_CMD_SOLO_BTN_PAUSE_CLICK(const mavlink_command_int_t &packet)
{
if (copter.failsafe.radio) {

2
ArduCopter/GCS_Mavlink.h
View File

@ -98,6 +98,8 @@ private:
#if AC_MAVLINK_SOLO_BUTTON_COMMAND_HANDLING_ENABLED
MAV_RESULT handle_MAV_CMD_SOLO_BTN_FLY_CLICK(const mavlink_command_int_t &packet);
MAV_RESULT handle_MAV_CMD_SOLO_BTN_FLY_HOLD(const mavlink_command_int_t &packet);
MAV_RESULT handle_MAV_CMD_SOLO_BTN_PAUSE_CLICK(const mavlink_command_int_t &packet);
#endif