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Plane: added DSM bind support

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This commit is contained in:
Eugene Shamaev 2015-06-10 16:46:17 +10:00 committed by Andrew Tridgell
parent a3ddc49a70
commit 5b34fa4f6a
1 changed files with 9 additions and 0 deletions
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9
ArduPlane/GCS_Mavlink.cpp
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@ -1066,6 +1066,15 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
switch(packet.command) { switch(packet.command) {
case MAV_CMD_START_RX_PAIR:
// initiate bind procedure
if (!hal.rcin->rc_bind(packet.param1)) {
result = MAV_RESULT_FAILED;
} else {
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_NAV_LOITER_UNLIM: case MAV_CMD_NAV_LOITER_UNLIM:
plane.set_mode(LOITER); plane.set_mode(LOITER);
result = MAV_RESULT_ACCEPTED; result = MAV_RESULT_ACCEPTED;