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Copter: Expose the AFS instance to MAVLink

This commit is contained in:
Michael du Breuil 2017-07-24 23:36:17 -07:00 committed by Francisco Ferreira
parent 833ec1336e
commit 5cfe4d5a8c
2 changed files with 30 additions and 7 deletions
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35
ArduCopter/GCS_Mavlink.cpp
View File

@ -969,13 +969,6 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
}
break;
case MAV_CMD_DO_FLIGHTTERMINATION:
if (packet.param1 > 0.5f) {
copter.init_disarm_motors();
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_DO_SET_ROI:
// param1 : regional of interest mode (not supported)
// param2 : mission index/ target id (not supported)
@ -1769,6 +1762,34 @@ AP_ServoRelayEvents *GCS_MAVLINK_Copter::get_servorelayevents() const
return &copter.ServoRelayEvents;
}
AP_AdvancedFailsafe *GCS_MAVLINK_Copter::get_advanced_failsafe() const
{
#if ADVANCED_FAILSAFE == ENABLED
return &copter.g2.afs;
#else
return nullptr;
#endif
}
MAV_RESULT GCS_MAVLINK_Copter::handle_flight_termination(const mavlink_command_long_t &packet) {
MAV_RESULT result = MAV_RESULT_FAILED;
#if ADVANCED_FAILSAFE == ENABLED
if (GCS_MAVLINK::handle_flight_termination(packet) != MAV_RESULT_ACCEPTED) {
#endif
if (packet.param1 > 0.5f) {
copter.init_disarm_motors();
result = MAV_RESULT_ACCEPTED;
}
#if ADVANCED_FAILSAFE == ENABLED
} else {
result = MAV_RESULT_ACCEPTED;
}
#endif
return result;
}
AP_Rally *GCS_MAVLINK_Copter::get_rally() const
{
#if AC_RALLY == ENABLED

2
ArduCopter/GCS_Mavlink.h
View File

@ -24,6 +24,8 @@ protected:
AP_Camera *get_camera() const override;
AP_ServoRelayEvents *get_servorelayevents() const override;
AP_GPS *get_gps() const override;
MAV_RESULT handle_flight_termination(const mavlink_command_long_t &packet) override;
AP_AdvancedFailsafe *get_advanced_failsafe() const override;
uint8_t sysid_my_gcs() const override;