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Sub: accept DO_CHANGE_SPEED as both command_long and command_int

This commit is contained in:
Peter Barker 2023-10-04 09:32:50 +11:00 committed by Andrew Tridgell
parent a068569f8a
commit 5a1a4acab2
2 changed files with 11 additions and 5 deletions
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15
ArduSub/GCS_Mavlink.cpp
View File

@ -465,6 +465,9 @@ MAV_RESULT GCS_MAVLINK_Sub::handle_command_int_packet(const mavlink_command_int_
{ {
switch(packet.command) { switch(packet.command) {
case MAV_CMD_DO_CHANGE_SPEED:
return handle_MAV_CMD_DO_CHANGE_SPEED(packet);
case MAV_CMD_DO_MOTOR_TEST: case MAV_CMD_DO_MOTOR_TEST:
return handle_MAV_CMD_DO_MOTOR_TEST(packet); return handle_MAV_CMD_DO_MOTOR_TEST(packet);
@ -515,7 +518,13 @@ MAV_RESULT GCS_MAVLINK_Sub::handle_command_long_packet(const mavlink_command_lon
} }
return MAV_RESULT_FAILED; return MAV_RESULT_FAILED;
case MAV_CMD_DO_CHANGE_SPEED: default:
return GCS_MAVLINK::handle_command_long_packet(packet, msg);
}
}
MAV_RESULT GCS_MAVLINK_Sub::handle_MAV_CMD_DO_CHANGE_SPEED(const mavlink_command_int_t &packet)
{
// param1 : unused // param1 : unused
// param2 : new speed in m/s // param2 : new speed in m/s
// param3 : unused // param3 : unused
@ -525,10 +534,6 @@ MAV_RESULT GCS_MAVLINK_Sub::handle_command_long_packet(const mavlink_command_lon
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;
} }
return MAV_RESULT_FAILED; return MAV_RESULT_FAILED;
default:
return GCS_MAVLINK::handle_command_long_packet(packet, msg);
}
} }
MAV_RESULT GCS_MAVLINK_Sub::handle_MAV_CMD_MISSION_START(const mavlink_command_int_t &packet) MAV_RESULT GCS_MAVLINK_Sub::handle_MAV_CMD_MISSION_START(const mavlink_command_int_t &packet)

1
ArduSub/GCS_Mavlink.h
View File

@ -54,6 +54,7 @@ private:
int16_t vfr_hud_throttle() const override; int16_t vfr_hud_throttle() const override;
MAV_RESULT handle_MAV_CMD_MISSION_START(const mavlink_command_int_t &packet); MAV_RESULT handle_MAV_CMD_MISSION_START(const mavlink_command_int_t &packet);
MAV_RESULT handle_MAV_CMD_DO_CHANGE_SPEED(const mavlink_command_int_t &packet);
MAV_RESULT handle_MAV_CMD_DO_MOTOR_TEST(const mavlink_command_int_t &packet); MAV_RESULT handle_MAV_CMD_DO_MOTOR_TEST(const mavlink_command_int_t &packet);
MAV_RESULT handle_MAV_CMD_NAV_LOITER_UNLIM(const mavlink_command_int_t &packet); MAV_RESULT handle_MAV_CMD_NAV_LOITER_UNLIM(const mavlink_command_int_t &packet);
MAV_RESULT handle_MAV_CMD_NAV_LAND(const mavlink_command_int_t &packet); MAV_RESULT handle_MAV_CMD_NAV_LAND(const mavlink_command_int_t &packet);