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Sub: move send_autopilot_request calls up to GCS base class

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This commit is contained in:
Peter Barker 2017-08-19 19:52:04 +10:00 committed by Francisco Ferreira
parent 0db1711b1f
commit 52463a5ed6
2 changed files with 6 additions and 12 deletions
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17
ArduSub/GCS_Mavlink.cpp
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@ -1260,14 +1260,6 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
break;
#endif
case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES: {
if (is_equal(packet.param1,1.0f)) {
send_autopilot_version(FIRMWARE_VERSION);
result = MAV_RESULT_ACCEPTED;
}
break;
}
case MAV_CMD_DO_SEND_BANNER: {
result = MAV_RESULT_ACCEPTED;
@ -1507,10 +1499,6 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
#endif
break;
case MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST:
send_autopilot_version(FIRMWARE_VERSION);
break;
case MAVLINK_MSG_ID_SET_HOME_POSITION: {
mavlink_set_home_position_t packet;
mavlink_msg_set_home_position_decode(msg, &packet);
@ -1657,5 +1645,10 @@ bool GCS_MAVLINK_Sub::set_mode(uint8_t mode)
return sub.set_mode((control_mode_t)mode, MODE_REASON_GCS_COMMAND);
}
const AP_FWVersion &GCS_MAVLINK_Sub::get_fwver() const
{
return sub.fwver;
}
// dummy method to avoid linking AFS
bool AP_AdvancedFailsafe::gcs_terminate(bool should_terminate) { return false; }

1
ArduSub/GCS_Mavlink.h
View File

@ -20,6 +20,7 @@ protected:
AP_Camera *get_camera() const override;
AP_ServoRelayEvents *get_servorelayevents() const override;
AP_GPS *get_gps() const override;
const AP_FWVersion &get_fwver() const override;
MAV_RESULT handle_flight_termination(const mavlink_command_long_t &packet) override;