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ArduPlane: add and use AP_MAVLINK_COMMAND_LONG_ENABLED

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Peter Barker 2023-11-08 21:31:03 +11:00 committed by Peter Barker
parent e7ff4a43ca
commit 4b285fa579
2 changed files with 4 additions and 0 deletions
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2
ArduPlane/GCS_Mavlink.cpp
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@ -1105,6 +1105,7 @@ void GCS_MAVLINK_Plane::convert_MAV_CMD_NAV_TAKEOFF_to_COMMAND_INT(const mavlink
out.z = -in.param7; // up -> down out.z = -in.param7; // up -> down
} }
#if AP_MAVLINK_COMMAND_LONG_ENABLED
void GCS_MAVLINK_Plane::convert_COMMAND_LONG_to_COMMAND_INT(const mavlink_command_long_t &in, mavlink_command_int_t &out, MAV_FRAME frame) void GCS_MAVLINK_Plane::convert_COMMAND_LONG_to_COMMAND_INT(const mavlink_command_long_t &in, mavlink_command_int_t &out, MAV_FRAME frame)
{ {
switch (in.command) { switch (in.command) {
@ -1114,6 +1115,7 @@ void GCS_MAVLINK_Plane::convert_COMMAND_LONG_to_COMMAND_INT(const mavlink_comman
} }
return GCS_MAVLINK::convert_COMMAND_LONG_to_COMMAND_INT(in, out, frame); return GCS_MAVLINK::convert_COMMAND_LONG_to_COMMAND_INT(in, out, frame);
} }
#endif // AP_MAVLINK_COMMAND_LONG_ENABLED
MAV_RESULT GCS_MAVLINK_Plane::handle_command_MAV_CMD_NAV_TAKEOFF(const mavlink_command_int_t &packet) MAV_RESULT GCS_MAVLINK_Plane::handle_command_MAV_CMD_NAV_TAKEOFF(const mavlink_command_int_t &packet)
{ {

2
ArduPlane/GCS_Mavlink.h
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@ -62,8 +62,10 @@ private:
MAV_RESULT handle_command_DO_VTOL_TRANSITION(const mavlink_command_int_t &packet); MAV_RESULT handle_command_DO_VTOL_TRANSITION(const mavlink_command_int_t &packet);
#if HAL_QUADPLANE_ENABLED #if HAL_QUADPLANE_ENABLED
#if AP_MAVLINK_COMMAND_LONG_ENABLED
void convert_MAV_CMD_NAV_TAKEOFF_to_COMMAND_INT(const mavlink_command_long_t &in, mavlink_command_int_t &out); void convert_MAV_CMD_NAV_TAKEOFF_to_COMMAND_INT(const mavlink_command_long_t &in, mavlink_command_int_t &out);
void convert_COMMAND_LONG_to_COMMAND_INT(const mavlink_command_long_t &in, mavlink_command_int_t &out, MAV_FRAME frame = MAV_FRAME_GLOBAL_RELATIVE_ALT) override; void convert_COMMAND_LONG_to_COMMAND_INT(const mavlink_command_long_t &in, mavlink_command_int_t &out, MAV_FRAME frame = MAV_FRAME_GLOBAL_RELATIVE_ALT) override;
#endif
MAV_RESULT handle_command_MAV_CMD_NAV_TAKEOFF(const mavlink_command_int_t &packet); MAV_RESULT handle_command_MAV_CMD_NAV_TAKEOFF(const mavlink_command_int_t &packet);
#endif #endif