Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-18 06:38:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

ArduPlane: add build_option.py entry for Plane offboard-guided control

Browse Source
This commit is contained in:
Peter Barker 2024-08-05 10:27:13 +10:00 committed by Peter Barker
parent a4a9113cde
commit 74bf618a32
1 changed files with 4 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
ArduPlane/GCS_Mavlink.cpp
View File

@ -874,12 +874,11 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_do_reposition(const mavlink_com
return MAV_RESULT_FAILED; return MAV_RESULT_FAILED;
} }
#if AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
// these are GUIDED mode commands that are RATE or slew enabled, so you can have more powerful control than default controls. // these are GUIDED mode commands that are RATE or slew enabled, so you can have more powerful control than default controls.
MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_guided_slew_commands(const mavlink_command_int_t &packet) MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_guided_slew_commands(const mavlink_command_int_t &packet)
{ {
switch(packet.command) { switch(packet.command) {
#if AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
case MAV_CMD_GUIDED_CHANGE_SPEED: { case MAV_CMD_GUIDED_CHANGE_SPEED: {
// command is only valid in guided mode // command is only valid in guided mode
if (plane.control_mode != &plane.mode_guided) { if (plane.control_mode != &plane.mode_guided) {
@ -1008,14 +1007,11 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_guided_slew_commands(const mavl
plane.guided_state.target_heading_time_ms = AP_HAL::millis(); plane.guided_state.target_heading_time_ms = AP_HAL::millis();
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;
} }
#endif // AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
} }
// anything else ... // anything else ...
return MAV_RESULT_UNSUPPORTED; return MAV_RESULT_UNSUPPORTED;
} }
#endif // AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_packet(const mavlink_command_int_t &packet, const mavlink_message_t &msg) MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_packet(const mavlink_command_int_t &packet, const mavlink_message_t &msg)
{ {
@ -1027,11 +1023,13 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_packet(const mavlink_command_in
case MAV_CMD_DO_REPOSITION: case MAV_CMD_DO_REPOSITION:
return handle_command_int_do_reposition(packet); return handle_command_int_do_reposition(packet);
#if AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED
// special 'slew-enabled' guided commands here... for speed,alt, and direction commands // special 'slew-enabled' guided commands here... for speed,alt, and direction commands
case MAV_CMD_GUIDED_CHANGE_SPEED: case MAV_CMD_GUIDED_CHANGE_SPEED:
case MAV_CMD_GUIDED_CHANGE_ALTITUDE: case MAV_CMD_GUIDED_CHANGE_ALTITUDE:
case MAV_CMD_GUIDED_CHANGE_HEADING: case MAV_CMD_GUIDED_CHANGE_HEADING:
return handle_command_int_guided_slew_commands(packet); return handle_command_int_guided_slew_commands(packet);
#endif
#if AP_SCRIPTING_ENABLED && AP_FOLLOW_ENABLED #if AP_SCRIPTING_ENABLED && AP_FOLLOW_ENABLED
case MAV_CMD_DO_FOLLOW: case MAV_CMD_DO_FOLLOW: