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Sub: move handling of SET_GPS_GLOBAL_ORIGIN up

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This commit is contained in:
Peter Barker 2017-09-19 12:38:20 +10:00 committed by Randy Mackay
parent b84e40a804
commit 5b7f396e23
2 changed files with 6 additions and 16 deletions
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21
ArduSub/GCS_Mavlink.cpp
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@ -891,22 +891,6 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
break;
}
case MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN:
{
mavlink_set_gps_global_origin_t packet;
mavlink_msg_set_gps_global_origin_decode(msg, &packet);
// sanity check location
if (!check_latlng(packet.latitude, packet.longitude)) {
break;
}
Location ekf_origin {};
ekf_origin.lat = packet.latitude;
ekf_origin.lng = packet.longitude;
ekf_origin.alt = packet.altitude / 10;
sub.set_ekf_origin(ekf_origin);
break;
}
case MAVLINK_MSG_ID_REQUEST_DATA_STREAM: { // MAV ID: 66
handle_request_data_stream(msg, false);
break;
@ -1636,5 +1620,10 @@ const AP_FWVersion &GCS_MAVLINK_Sub::get_fwver() const
return sub.fwver;
}
void GCS_MAVLINK_Sub::set_ekf_origin(const Location& loc)
{
sub.set_ekf_origin(loc);
}
// dummy method to avoid linking AFS
bool AP_AdvancedFailsafe::gcs_terminate(bool should_terminate) { return false; }

1
ArduSub/GCS_Mavlink.h
View File

@ -21,6 +21,7 @@ protected:
AP_ServoRelayEvents *get_servorelayevents() const override;
AP_GPS *get_gps() const override;
const AP_FWVersion &get_fwver() const override;
void set_ekf_origin(const Location& loc) override;
MAV_RESULT handle_flight_termination(const mavlink_command_long_t &packet) override;