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GCS_MAVLink: accept accel cal vehicle positions as both int and long

This commit is contained in:
Peter Barker 2023-10-10 21:23:50 +11:00 committed by Peter Barker
parent 14b67768cf
commit 659db36efe
2 changed files with 7 additions and 8 deletions
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2
libraries/GCS_MAVLink/GCS.h
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@ -638,7 +638,7 @@ protected:
MAV_RESULT handle_command_battery_reset(const mavlink_command_long_t &packet);
void handle_command_long(const mavlink_message_t &msg);
MAV_RESULT handle_command_accelcal_vehicle_pos(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_accelcal_vehicle_pos(const mavlink_command_int_t &packet);
#if HAL_MOUNT_ENABLED
virtual MAV_RESULT handle_command_mount(const mavlink_command_int_t &packet, const mavlink_message_t &msg);

13
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -4635,7 +4635,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_airframe_configuration(const mavlink_comm
#endif
#if HAL_INS_ACCELCAL_ENABLED
MAV_RESULT GCS_MAVLINK::handle_command_accelcal_vehicle_pos(const mavlink_command_long_t &packet)
MAV_RESULT GCS_MAVLINK::handle_command_accelcal_vehicle_pos(const mavlink_command_int_t &packet)
{
if (AP::ins().get_acal() == nullptr ||
!AP::ins().get_acal()->gcs_vehicle_position(packet.param1)) {
@ -4727,12 +4727,6 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
switch (packet.command) {
#if HAL_INS_ACCELCAL_ENABLED
case MAV_CMD_ACCELCAL_VEHICLE_POS:
result = handle_command_accelcal_vehicle_pos(packet);
break;
#endif
case MAV_CMD_DO_SET_MODE:
result = handle_command_do_set_mode(packet);
break;
@ -5087,6 +5081,11 @@ MAV_RESULT GCS_MAVLINK::handle_command_storage_format(const mavlink_command_int_
MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &packet, const mavlink_message_t &msg)
{
switch (packet.command) {
#if HAL_INS_ACCELCAL_ENABLED
case MAV_CMD_ACCELCAL_VEHICLE_POS:
return handle_command_accelcal_vehicle_pos(packet);
#endif
#if AP_LANDINGGEAR_ENABLED
case MAV_CMD_AIRFRAME_CONFIGURATION:
return handle_command_airframe_configuration(packet);