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GCS_MAVLink: upload fence when auto mode not complied

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chobits 2022-11-30 09:41:51 +08:00 committed by Peter Barker
parent fc2090161b
commit 590d2fcf77
1 changed files with 10 additions and 11 deletions
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17
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -3945,10 +3945,6 @@ void GCS_MAVLINK::handle_common_message(const mavlink_message_t &msg)
void GCS_MAVLINK::handle_common_mission_message(const mavlink_message_t &msg) void GCS_MAVLINK::handle_common_mission_message(const mavlink_message_t &msg)
{ {
AP_Mission *_mission = AP::mission();
if (_mission == nullptr) {
return;
}
switch (msg.msgid) { switch (msg.msgid) {
case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST: // MAV ID: 38 case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST: // MAV ID: 38
{ {
@ -3972,7 +3968,10 @@ void GCS_MAVLINK::handle_common_mission_message(const mavlink_message_t &msg)
case MAVLINK_MSG_ID_MISSION_SET_CURRENT: // MAV ID: 41 case MAVLINK_MSG_ID_MISSION_SET_CURRENT: // MAV ID: 41
{ {
AP_Mission *_mission = AP::mission();
if (_mission != nullptr) {
handle_mission_set_current(*_mission, msg); handle_mission_set_current(*_mission, msg);
}
break; break;
} }
@ -5032,18 +5031,18 @@ void GCS::try_send_queued_message_for_type(MAV_MISSION_TYPE type) const {
bool GCS_MAVLINK::try_send_mission_message(const enum ap_message id) bool GCS_MAVLINK::try_send_mission_message(const enum ap_message id)
{ {
AP_Mission *mission = AP::mission();
if (mission == nullptr) {
return true;
}
bool ret = true; bool ret = true;
switch (id) { switch (id) {
case MSG_CURRENT_WAYPOINT: case MSG_CURRENT_WAYPOINT:
{
CHECK_PAYLOAD_SIZE(MISSION_CURRENT); CHECK_PAYLOAD_SIZE(MISSION_CURRENT);
AP_Mission *mission = AP::mission();
if (mission != nullptr) {
mavlink_msg_mission_current_send(chan, mission->get_current_nav_index()); mavlink_msg_mission_current_send(chan, mission->get_current_nav_index());
}
ret = true; ret = true;
break; break;
}
case MSG_MISSION_ITEM_REACHED: case MSG_MISSION_ITEM_REACHED:
CHECK_PAYLOAD_SIZE(MISSION_ITEM_REACHED); CHECK_PAYLOAD_SIZE(MISSION_ITEM_REACHED);
mavlink_msg_mission_item_reached_send(chan, mission_item_reached_index); mavlink_msg_mission_item_reached_send(chan, mission_item_reached_index);