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

Copter: use handle_landing_target() for precland 

allows for jitter correction
This commit is contained in:
Andrew Tridgell 2019-05-31 21:02:12 +10:00 committed by Peter Barker
parent 8444a3310d
commit 5a869174e5
2 changed files with 12 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
ArduCopter/GCS_Mavlink.cpp
View File

@ -568,6 +568,16 @@ void GCS_MAVLINK_Copter::handle_command_ack(const mavlink_message_t &msg)
GCS_MAVLINK::handle_command_ack(msg); GCS_MAVLINK::handle_command_ack(msg);
} }
/*
handle a LANDING_TARGET command. The timestamp has been jitter corrected
*/
void GCS_MAVLINK_Copter::handle_landing_target(const mavlink_landing_target_t &packet, uint32_t timestamp_ms)
{
#if PRECISION_LANDING == ENABLED
copter.precland.handle_msg(packet, timestamp_ms);
#endif
}
MAV_RESULT GCS_MAVLINK_Copter::_handle_command_preflight_calibration(const mavlink_command_long_t &packet) MAV_RESULT GCS_MAVLINK_Copter::_handle_command_preflight_calibration(const mavlink_command_long_t &packet)
{ {
if (is_equal(packet.param6,1.0f)) { if (is_equal(packet.param6,1.0f)) {
@ -1281,12 +1291,6 @@ void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
break; break;
} }
#if PRECISION_LANDING == ENABLED
case MAVLINK_MSG_ID_LANDING_TARGET:
copter.precland.handle_msg(msg);
break;
#endif
case MAVLINK_MSG_ID_TERRAIN_DATA: case MAVLINK_MSG_ID_TERRAIN_DATA:
case MAVLINK_MSG_ID_TERRAIN_CHECK: case MAVLINK_MSG_ID_TERRAIN_CHECK:
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN #if AP_TERRAIN_AVAILABLE && AC_TERRAIN

2
ArduCopter/GCS_Mavlink.h
View File

@ -35,6 +35,8 @@ protected:
void handle_mount_message(const mavlink_message_t &msg) override; void handle_mount_message(const mavlink_message_t &msg) override;
void handle_landing_target(const mavlink_landing_target_t &packet, uint32_t timestamp_ms) override;
bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED; bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED;
bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED; bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED;
void send_nav_controller_output() const override; void send_nav_controller_output() const override;