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Blimp: move handling of DO_SET_HOME up to GCS_MAVLink base class

This commit is contained in:
Peter Barker 2024-04-03 21:40:31 +11:00 committed by Andrew Tridgell
parent 89a9a0e6d1
commit 6477effa3f
3 changed files with 2 additions and 13 deletions
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4
Blimp/Blimp.h
View File

@ -310,8 +310,8 @@ private:
// commands.cpp
void update_home_from_EKF();
void set_home_to_current_location_inflight();
bool set_home_to_current_location(bool lock) WARN_IF_UNUSED;
bool set_home(const Location& loc, bool lock) WARN_IF_UNUSED;
bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED;
bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED;
bool far_from_EKF_origin(const Location& loc);
// ekf_check.cpp

9
Blimp/GCS_Mavlink.cpp
View File

@ -448,15 +448,6 @@ MAV_RESULT GCS_MAVLINK_Blimp::handle_command_do_set_roi(const Location &roi_loc)
return MAV_RESULT_ACCEPTED;
}
bool GCS_MAVLINK_Blimp::set_home_to_current_location(bool _lock)
{
return blimp.set_home_to_current_location(_lock);
}
bool GCS_MAVLINK_Blimp::set_home(const Location& loc, bool _lock)
{
return blimp.set_home(loc, _lock);
}
MAV_RESULT GCS_MAVLINK_Blimp::handle_command_int_do_reposition(const mavlink_command_int_t &packet)
{
const bool change_modes = ((int32_t)packet.param2 & MAV_DO_REPOSITION_FLAGS_CHANGE_MODE) == MAV_DO_REPOSITION_FLAGS_CHANGE_MODE;

2
Blimp/GCS_Mavlink.h
View File

@ -35,8 +35,6 @@ protected:
bool mav_frame_for_command_long(MAV_FRAME &frame, MAV_CMD packet_command) const override;
#endif
bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED;
bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED;
void send_nav_controller_output() const override; //TODO Apparently can't remove this or the build fails.
uint64_t capabilities() const override;