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GCS_MAVLink: allow setting modes via COMMAND_INT and DO_SET_MODE

This commit is contained in:
Peter Barker 2023-10-12 21:37:33 +11:00 committed by Andrew Tridgell
parent aaca600a94
commit 7713b531a0
2 changed files with 5 additions and 6 deletions
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2
libraries/GCS_MAVLink/GCS.h
View File

@ -657,7 +657,7 @@ protected:
virtual MAV_RESULT handle_command_do_set_roi(const Location &roi_loc);
MAV_RESULT handle_command_do_gripper(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_do_sprayer(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_do_set_mode(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_do_set_mode(const mavlink_command_int_t &packet);
MAV_RESULT handle_command_get_home_position(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_do_fence_enable(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_debug_trap(const mavlink_command_int_t &packet);

9
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -4515,7 +4515,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_send_banner(const mavlink_command_long
return MAV_RESULT_ACCEPTED;
}
MAV_RESULT GCS_MAVLINK::handle_command_do_set_mode(const mavlink_command_long_t &packet)
MAV_RESULT GCS_MAVLINK::handle_command_do_set_mode(const mavlink_command_int_t &packet)
{
const MAV_MODE _base_mode = (MAV_MODE)packet.param1;
const uint32_t _custom_mode = (uint32_t)packet.param2;
@ -4732,10 +4732,6 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
switch (packet.command) {
case MAV_CMD_DO_SET_MODE:
result = handle_command_do_set_mode(packet);
break;
case MAV_CMD_DO_SEND_BANNER:
result = handle_command_do_send_banner(packet);
break;
@ -5105,6 +5101,9 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
case MAV_CMD_DO_FLIGHTTERMINATION:
return handle_flight_termination(packet);
case MAV_CMD_DO_SET_MODE:
return handle_command_do_set_mode(packet);
case MAV_CMD_DO_SET_ROI:
case MAV_CMD_DO_SET_ROI_LOCATION:
return handle_command_do_set_roi(packet);