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Plane: handle DO_PARACHUTE as both COMMAND_LONG and COMMAND_INT

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This commit is contained in:
Peter Barker 2023-09-19 18:37:08 +10:00 committed by Andrew Tridgell
parent 2c44d75f27
commit 63c88fea58
2 changed files with 14 additions and 5 deletions
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18
ArduPlane/GCS_Mavlink.cpp
View File

@ -984,6 +984,11 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_packet(const mavlink_command_in
case MAV_CMD_DO_CHANGE_SPEED: case MAV_CMD_DO_CHANGE_SPEED:
return handle_command_DO_CHANGE_SPEED(packet); return handle_command_DO_CHANGE_SPEED(packet);
#if PARACHUTE == ENABLED
case MAV_CMD_DO_PARACHUTE:
return handle_MAV_CMD_DO_PARACHUTE(packet);
#endif
#if HAL_QUADPLANE_ENABLED #if HAL_QUADPLANE_ENABLED
case MAV_CMD_DO_MOTOR_TEST: case MAV_CMD_DO_MOTOR_TEST:
return handle_MAV_CMD_DO_MOTOR_TEST(packet); return handle_MAV_CMD_DO_MOTOR_TEST(packet);
@ -1059,8 +1064,14 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
plane.autotune_enable(!is_zero(packet.param1)); plane.autotune_enable(!is_zero(packet.param1));
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;
default:
return GCS_MAVLINK::handle_command_long_packet(packet, msg);
}
}
#if PARACHUTE == ENABLED #if PARACHUTE == ENABLED
case MAV_CMD_DO_PARACHUTE: MAV_RESULT GCS_MAVLINK_Plane::handle_MAV_CMD_DO_PARACHUTE(const mavlink_command_int_t &packet)
{
// configure or release parachute // configure or release parachute
switch ((uint16_t)packet.param1) { switch ((uint16_t)packet.param1) {
case PARACHUTE_DISABLE: case PARACHUTE_DISABLE:
@ -1087,12 +1098,9 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
break; break;
} }
return MAV_RESULT_FAILED; return MAV_RESULT_FAILED;
}
#endif #endif
default:
return GCS_MAVLINK::handle_command_long_packet(packet, msg);
}
}
#if HAL_QUADPLANE_ENABLED #if HAL_QUADPLANE_ENABLED
MAV_RESULT GCS_MAVLINK_Plane::handle_MAV_CMD_DO_MOTOR_TEST(const mavlink_command_int_t &packet) MAV_RESULT GCS_MAVLINK_Plane::handle_MAV_CMD_DO_MOTOR_TEST(const mavlink_command_int_t &packet)

1
ArduPlane/GCS_Mavlink.h
View File

@ -56,6 +56,7 @@ private:
MAV_RESULT handle_command_int_guided_slew_commands(const mavlink_command_int_t &packet); MAV_RESULT handle_command_int_guided_slew_commands(const mavlink_command_int_t &packet);
MAV_RESULT handle_command_DO_CHANGE_SPEED(const mavlink_command_int_t &packet); MAV_RESULT handle_command_DO_CHANGE_SPEED(const mavlink_command_int_t &packet);
MAV_RESULT handle_MAV_CMD_DO_MOTOR_TEST(const mavlink_command_int_t &packet); MAV_RESULT handle_MAV_CMD_DO_MOTOR_TEST(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);
bool try_send_message(enum ap_message id) override; bool try_send_message(enum ap_message id) override;