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Plane: break out a method for set-position-target-global-int

This commit is contained in:
Peter Barker 2024-01-24 09:58:17 +11:00 committed by Andrew Tridgell
parent 1bfd9f3763
commit 5bc2b1a09b
2 changed files with 13 additions and 9 deletions
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20
ArduPlane/GCS_Mavlink.cpp
View File

@ -1329,6 +1329,16 @@ void GCS_MAVLINK_Plane::handle_message(const mavlink_message_t &msg)
} }
case MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT: case MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT:
handle_set_position_target_global_int(msg);
break;
default:
GCS_MAVLINK::handle_message(msg);
break;
} // end switch
} // end handle mavlink
void GCS_MAVLINK_Plane::handle_set_position_target_global_int(const mavlink_message_t &msg)
{ {
// Only want to allow companion computer position control when // Only want to allow companion computer position control when
// in a certain mode to avoid inadvertently sending these // in a certain mode to avoid inadvertently sending these
@ -1338,7 +1348,7 @@ void GCS_MAVLINK_Plane::handle_message(const mavlink_message_t &msg)
// one uses the FENCE_ACTION = 4 (RTL) for geofence failures). // one uses the FENCE_ACTION = 4 (RTL) for geofence failures).
if (plane.control_mode != &plane.mode_guided) { if (plane.control_mode != &plane.mode_guided) {
//don't screw up failsafes //don't screw up failsafes
break; return;
} }
mavlink_set_position_target_global_int_t pos_target; mavlink_set_position_target_global_int_t pos_target;
@ -1378,16 +1388,8 @@ void GCS_MAVLINK_Plane::handle_message(const mavlink_message_t &msg)
handle_change_alt_request(cmd); handle_change_alt_request(cmd);
} }
} // end if alt_mask } // end if alt_mask
break;
} }
default:
GCS_MAVLINK::handle_message(msg);
break;
} // end switch
} // end handle mavlink
MAV_RESULT GCS_MAVLINK_Plane::handle_command_do_set_mission_current(const mavlink_command_int_t &packet) MAV_RESULT GCS_MAVLINK_Plane::handle_command_do_set_mission_current(const mavlink_command_int_t &packet)
{ {
const MAV_RESULT result = GCS_MAVLINK::handle_command_do_set_mission_current(packet); const MAV_RESULT result = GCS_MAVLINK::handle_command_do_set_mission_current(packet);

2
ArduPlane/GCS_Mavlink.h
View File

@ -66,6 +66,8 @@ private:
MAV_RESULT handle_MAV_CMD_DO_PARACHUTE(const mavlink_command_int_t &packet); MAV_RESULT handle_MAV_CMD_DO_PARACHUTE(const mavlink_command_int_t &packet);
MAV_RESULT handle_command_DO_VTOL_TRANSITION(const mavlink_command_int_t &packet); MAV_RESULT handle_command_DO_VTOL_TRANSITION(const mavlink_command_int_t &packet);
void handle_set_position_target_global_int(const mavlink_message_t &msg);
#if HAL_QUADPLANE_ENABLED #if HAL_QUADPLANE_ENABLED
#if AP_MAVLINK_COMMAND_LONG_ENABLED #if AP_MAVLINK_COMMAND_LONG_ENABLED
void convert_MAV_CMD_NAV_TAKEOFF_to_COMMAND_INT(const mavlink_command_long_t &in, mavlink_command_int_t &out); void convert_MAV_CMD_NAV_TAKEOFF_to_COMMAND_INT(const mavlink_command_long_t &in, mavlink_command_int_t &out);