Plane: support DO_VTOL_TRANSITION as a mission item

ArduPlane/GCS_Mavlink.cpp

@@ -1626,7 +1626,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             break;
             
         case MAV_CMD_DO_VTOL_TRANSITION:
-            result = plane.quadplane.handle_do_vtol_transition(packet);
+            if (!plane.quadplane.handle_do_vtol_transition((enum MAV_VTOL_STATE)packet.param1)) {
+                result = MAV_RESULT_FAILED;
+            } else {
+                result = MAV_RESULT_ACCEPTED;
+            }
             break;
             
         default:

ArduPlane/commands_logic.cpp

@@ -218,6 +218,10 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
                                        cmd.content.mount_control.yaw);
         break;
 #endif
+
+    case MAV_CMD_DO_VTOL_TRANSITION:
+        plane.quadplane.handle_do_vtol_transition((enum MAV_VTOL_STATE)cmd.content.do_vtol_transition.target_state);
+        break;
     }
 
     return true;

ArduPlane/quadplane.cpp

@@ -948,33 +948,38 @@ bool QuadPlane::init_mode(void)
 /*
   handle a MAVLink DO_VTOL_TRANSITION
  */
-bool QuadPlane::handle_do_vtol_transition(const mavlink_command_long_t &packet)
+bool QuadPlane::handle_do_vtol_transition(enum MAV_VTOL_STATE state)
 {
     if (!available()) {
         plane.gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "VTOL not available");
-        return MAV_RESULT_FAILED;
+        return false;
     }
     if (plane.control_mode != AUTO) {
         plane.gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "VTOL transition only in AUTO");
-        return MAV_RESULT_FAILED;
+        return false;
     }
-    switch ((uint8_t)packet.param1) {
+    switch (state) {
     case MAV_VTOL_STATE_MC:
         if (!plane.auto_state.vtol_mode) {
             plane.gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "Entered VTOL mode");
         }
         plane.auto_state.vtol_mode = true;
-        return MAV_RESULT_ACCEPTED;
+        return true;
+        
     case MAV_VTOL_STATE_FW:
         if (plane.auto_state.vtol_mode) {
             plane.gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "Exited VTOL mode");
         }
         plane.auto_state.vtol_mode = false;
-        return MAV_RESULT_ACCEPTED;
+
+        return true;
+
+    default:
+        break;
     }
 
     plane.gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "Invalid VTOL mode");
-    return MAV_RESULT_FAILED;
+    return false;
 }
 
 /*

ArduPlane/quadplane.h

@@ -42,7 +42,7 @@ public:
         return available() && assisted_flight;
     }
     
-    bool handle_do_vtol_transition(const mavlink_command_long_t &packet);
+    bool handle_do_vtol_transition(enum MAV_VTOL_STATE state);
 
     bool do_vtol_takeoff(const AP_Mission::Mission_Command& cmd);
     bool do_vtol_land(const AP_Mission::Mission_Command& cmd);