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GCS_MAVLink: make sending of send_pid_tuning up

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Peter Barker 2019-03-01 10:24:13 +11:00 committed by Andrew Tridgell
parent 8c35ddc0eb
commit 74702b8688
4 changed files with 8 additions and 0 deletions
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1
libraries/GCS_MAVLink/GCS.h
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@ -196,6 +196,7 @@ public:
virtual void send_rangefinder() const; virtual void send_rangefinder() const;
void send_proximity() const; void send_proximity() const;
virtual void send_nav_controller_output() const = 0; virtual void send_nav_controller_output() const = 0;
virtual void send_pid_tuning() = 0;
void send_ahrs2(); void send_ahrs2();
void send_ahrs3(); void send_ahrs3();
void send_system_time(); void send_system_time();

5
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -4137,6 +4137,11 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
send_ahrs3(); send_ahrs3();
break; break;
case MSG_PID_TUNING:
CHECK_PAYLOAD_SIZE(PID_TUNING);
send_pid_tuning();
break;
case MSG_NAV_CONTROLLER_OUTPUT: case MSG_NAV_CONTROLLER_OUTPUT:
CHECK_PAYLOAD_SIZE(NAV_CONTROLLER_OUTPUT); CHECK_PAYLOAD_SIZE(NAV_CONTROLLER_OUTPUT);
send_nav_controller_output(); send_nav_controller_output();

1
libraries/GCS_MAVLink/GCS_Dummy.h
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@ -37,6 +37,7 @@ protected:
bool set_home(const Location& loc, bool lock) override { return false; } bool set_home(const Location& loc, bool lock) override { return false; }
void send_nav_controller_output() const override {}; void send_nav_controller_output() const override {};
void send_pid_tuning() override {};
}; };
/* /*

1
libraries/GCS_MAVLink/examples/routing/routing.cpp
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@ -39,6 +39,7 @@ protected:
uint32_t custom_mode() const override { return 3; } // magic number uint32_t custom_mode() const override { return 3; } // magic number
MAV_STATE system_status() const override { return MAV_STATE_CALIBRATING; } MAV_STATE system_status() const override { return MAV_STATE_CALIBRATING; }
void send_nav_controller_output() const override {}; void send_nav_controller_output() const override {};
void send_pid_tuning() override {};
bool set_home_to_current_location(bool lock) override { return false; } bool set_home_to_current_location(bool lock) override { return false; }
bool set_home(const Location& loc, bool lock) override { return false; } bool set_home(const Location& loc, bool lock) override { return false; }