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Tracker: handle command_long in GCS base class

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This commit is contained in:
Peter Barker 2018-07-04 12:23:52 +10:00 committed by Peter Barker
parent 7fc580921a
commit 7124132eee
2 changed files with 44 additions and 61 deletions
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56
AntennaTracker/GCS_Mavlink.cpp
View File

@ -370,21 +370,8 @@ MAV_RESULT GCS_MAVLINK_Tracker::_handle_command_preflight_calibration_baro()
return ret;
}
void GCS_MAVLINK_Tracker::handleMessage(mavlink_message_t* msg)
MAV_RESULT GCS_MAVLINK_Tracker::handle_command_long_packet(const mavlink_command_long_t &packet)
{
switch (msg->msgid) {
case MAVLINK_MSG_ID_HEARTBEAT:
break;
case MAVLINK_MSG_ID_COMMAND_LONG:
{
// decode
mavlink_command_long_t packet;
mavlink_msg_command_long_decode(msg, &packet);
MAV_RESULT result = MAV_RESULT_UNSUPPORTED;
// do command
send_text(MAV_SEVERITY_INFO,"Command received: ");
@ -394,49 +381,44 @@ void GCS_MAVLINK_Tracker::handleMessage(mavlink_message_t* msg)
if (packet.target_component == MAV_COMP_ID_SYSTEM_CONTROL) {
if (is_equal(packet.param1,1.0f)) {
tracker.arm_servos();
result = MAV_RESULT_ACCEPTED;
return MAV_RESULT_ACCEPTED;
} else if (is_zero(packet.param1)) {
tracker.disarm_servos();
result = MAV_RESULT_ACCEPTED;
return MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_UNSUPPORTED;
return MAV_RESULT_UNSUPPORTED;
}
} else {
result = MAV_RESULT_UNSUPPORTED;
}
break;
return MAV_RESULT_UNSUPPORTED;
case MAV_CMD_DO_SET_SERVO:
if (tracker.servo_test_set_servo(packet.param1, packet.param2)) {
result = MAV_RESULT_ACCEPTED;
if (!tracker.servo_test_set_servo(packet.param1, packet.param2)) {
return MAV_RESULT_FAILED;
}
break;
return MAV_RESULT_ACCEPTED;
// mavproxy/mavutil sends this when auto command is entered
case MAV_CMD_MISSION_START:
tracker.set_mode(AUTO, MODE_REASON_GCS_COMMAND);
result = MAV_RESULT_ACCEPTED;
break;
return MAV_RESULT_ACCEPTED;
case MAV_CMD_ACCELCAL_VEHICLE_POS:
result = MAV_RESULT_FAILED;
if (tracker.ins.get_acal()->gcs_vehicle_position(packet.param1)) {
result = MAV_RESULT_ACCEPTED;
if (!tracker.ins.get_acal()->gcs_vehicle_position(packet.param1)) {
return MAV_RESULT_FAILED;
}
break;
return MAV_RESULT_ACCEPTED;
default:
result = handle_command_long_message(packet);
break;
return GCS_MAVLINK::handle_command_long_packet(packet);
}
mavlink_msg_command_ack_send(
chan,
packet.command,
result);
}
void GCS_MAVLINK_Tracker::handleMessage(mavlink_message_t* msg)
{
switch (msg->msgid) {
case MAVLINK_MSG_ID_HEARTBEAT:
break;
}
// When mavproxy 'wp sethome'
case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST:

1
AntennaTracker/GCS_Mavlink.h
View File

@ -24,6 +24,7 @@ protected:
bool set_mode(uint8_t mode) override;
MAV_RESULT _handle_command_preflight_calibration_baro() override;
MAV_RESULT handle_command_long_packet(const mavlink_command_long_t &packet) override;
int32_t global_position_int_relative_alt() const {
return 0; // what if we have been picked up and carried somewhere?