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AP_Mission: allow payload place to be compiled out of code

This commit is contained in:
Peter Barker 2023-10-19 13:34:30 +11:00 committed by Peter Barker
parent bf59fbc6d9
commit 5a65632a2d
2 changed files with 10 additions and 0 deletions
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6
libraries/AP_Mission/AP_Mission.cpp
View File

@ -1250,9 +1250,11 @@ MAV_MISSION_RESULT AP_Mission::mavlink_int_to_mission_cmd(const mavlink_mission_
cmd.content.do_engine_control.allow_disarmed_start = (((uint32_t)packet.param4) & ENGINE_CONTROL_OPTIONS_ALLOW_START_WHILE_DISARMED) != 0; cmd.content.do_engine_control.allow_disarmed_start = (((uint32_t)packet.param4) & ENGINE_CONTROL_OPTIONS_ALLOW_START_WHILE_DISARMED) != 0;
break; break;
#if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED
case MAV_CMD_NAV_PAYLOAD_PLACE: case MAV_CMD_NAV_PAYLOAD_PLACE:
cmd.p1 = packet.param1*100; // copy max-descend parameter (m->cm) cmd.p1 = packet.param1*100; // copy max-descend parameter (m->cm)
break; break;
#endif
case MAV_CMD_NAV_SET_YAW_SPEED: case MAV_CMD_NAV_SET_YAW_SPEED:
cmd.content.set_yaw_speed.angle_deg = packet.param1; // target angle in degrees cmd.content.set_yaw_speed.angle_deg = packet.param1; // target angle in degrees
@ -1757,9 +1759,11 @@ bool AP_Mission::mission_cmd_to_mavlink_int(const AP_Mission::Mission_Command& c
} }
break; break;
#if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED
case MAV_CMD_NAV_PAYLOAD_PLACE: case MAV_CMD_NAV_PAYLOAD_PLACE:
packet.param1 = cmd.p1/100.0f; // copy max-descend parameter (cm->m) packet.param1 = cmd.p1/100.0f; // copy max-descend parameter (cm->m)
break; break;
#endif
case MAV_CMD_NAV_SET_YAW_SPEED: case MAV_CMD_NAV_SET_YAW_SPEED:
packet.param1 = cmd.content.set_yaw_speed.angle_deg; // target angle in degrees packet.param1 = cmd.content.set_yaw_speed.angle_deg; // target angle in degrees
@ -2617,8 +2621,10 @@ const char *AP_Mission::Mission_Command::type() const
case MAV_CMD_DO_GRIPPER: case MAV_CMD_DO_GRIPPER:
return "Gripper"; return "Gripper";
#endif #endif
#if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED
case MAV_CMD_NAV_PAYLOAD_PLACE: case MAV_CMD_NAV_PAYLOAD_PLACE:
return "PayloadPlace"; return "PayloadPlace";
#endif
case MAV_CMD_DO_PARACHUTE: case MAV_CMD_DO_PARACHUTE:
return "Parachute"; return "Parachute";
case MAV_CMD_DO_SPRAYER: case MAV_CMD_DO_SPRAYER:

4
libraries/AP_Mission/AP_Mission_config.h
View File

@ -3,3 +3,7 @@
#ifndef AP_MISSION_ENABLED #ifndef AP_MISSION_ENABLED
#define AP_MISSION_ENABLED 1 #define AP_MISSION_ENABLED 1
#endif #endif
#ifndef AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED
#define AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED 1
#endif