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

Copter: implement send_winch_status

This commit is contained in:
Randy Mackay 2020-07-24 17:40:49 +09:00
parent f607ff28b3
commit 54b714a24e
2 changed files with 14 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
ArduCopter/GCS_Mavlink.cpp
View File

@ -229,6 +229,18 @@ void GCS_MAVLINK_Copter::send_pid_tuning()
}
}
// send winch status message
void GCS_MAVLINK_Copter::send_winch_status() const
{
#if WINCH_ENABLED == ENABLED
AP_Winch *winch = AP::winch();
if (winch == nullptr) {
return;
}
winch->send_status(*this);
#endif
}
uint8_t GCS_MAVLINK_Copter::sysid_my_gcs() const
{
return copter.g.sysid_my_gcs;
@ -445,6 +457,7 @@ static const ap_message STREAM_EXTRA3_msgs[] = {
MSG_RPM,
MSG_ESC_TELEMETRY,
MSG_GENERATOR_STATUS,
MSG_WINCH_STATUS,
};
static const ap_message STREAM_PARAMS_msgs[] = {
MSG_NEXT_PARAM

1
ArduCopter/GCS_Mavlink.h
View File

@ -65,4 +65,5 @@ private:
void send_pid_tuning() override;
void send_winch_status() const override;
};