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GCS_MAVLink: add and use AP_HOME_ENABLED

This commit is contained in:
Peter Barker 2024-04-16 21:40:55 +10:00 committed by Andrew Tridgell
parent 9df6beb181
commit 7d10b0fc4d
2 changed files with 10 additions and 1 deletions
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4
libraries/GCS_MAVLink/GCS.h
View File

@ -522,12 +522,14 @@ protected:
void handle_set_mode(const mavlink_message_t &msg); void handle_set_mode(const mavlink_message_t &msg);
void handle_command_int(const mavlink_message_t &msg); void handle_command_int(const mavlink_message_t &msg);
MAV_RESULT handle_command_do_set_home(const mavlink_command_int_t &packet);
virtual MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet, const mavlink_message_t &msg); virtual MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet, const mavlink_message_t &msg);
MAV_RESULT handle_command_int_external_position_estimate(const mavlink_command_int_t &packet); MAV_RESULT handle_command_int_external_position_estimate(const mavlink_command_int_t &packet);
#if AP_HOME_ENABLED
MAV_RESULT handle_command_do_set_home(const mavlink_command_int_t &packet);
bool set_home_to_current_location(bool lock); bool set_home_to_current_location(bool lock);
bool set_home(const Location& loc, bool lock); bool set_home(const Location& loc, bool lock);
#endif
#if AP_ARMING_ENABLED #if AP_ARMING_ENABLED
virtual MAV_RESULT handle_command_component_arm_disarm(const mavlink_command_int_t &packet); virtual MAV_RESULT handle_command_component_arm_disarm(const mavlink_command_int_t &packet);

7
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -5066,6 +5066,7 @@ void GCS_MAVLINK::handle_landing_target(const mavlink_message_t &msg)
} }
#if AP_HOME_ENABLED
bool GCS_MAVLINK::set_home_to_current_location(bool _lock) bool GCS_MAVLINK::set_home_to_current_location(bool _lock)
{ {
#if AP_VEHICLE_ENABLED #if AP_VEHICLE_ENABLED
@ -5082,7 +5083,9 @@ bool GCS_MAVLINK::set_home(const Location& loc, bool _lock) {
return false; return false;
#endif #endif
} }
#endif // AP_HOME_ENABLED
#if AP_HOME_ENABLED
MAV_RESULT GCS_MAVLINK::handle_command_do_set_home(const mavlink_command_int_t &packet) MAV_RESULT GCS_MAVLINK::handle_command_do_set_home(const mavlink_command_int_t &packet)
{ {
if (is_equal(packet.param1, 1.0f) || (packet.x == 0 && packet.y == 0)) { if (is_equal(packet.param1, 1.0f) || (packet.x == 0 && packet.y == 0)) {
@ -5105,6 +5108,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_set_home(const mavlink_command_int_t &
} }
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;
} }
#endif // AP_HOME_ENABLED
#if AP_AHRS_POSITION_RESET_ENABLED #if AP_AHRS_POSITION_RESET_ENABLED
MAV_RESULT GCS_MAVLINK::handle_command_int_external_position_estimate(const mavlink_command_int_t &packet) MAV_RESULT GCS_MAVLINK::handle_command_int_external_position_estimate(const mavlink_command_int_t &packet)
@ -5309,8 +5313,11 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
send_banner(); send_banner();
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;
#if AP_HOME_ENABLED
case MAV_CMD_DO_SET_HOME: case MAV_CMD_DO_SET_HOME:
return handle_command_do_set_home(packet); return handle_command_do_set_home(packet);
#endif
#if AP_AHRS_POSITION_RESET_ENABLED #if AP_AHRS_POSITION_RESET_ENABLED
case MAV_CMD_EXTERNAL_POSITION_ESTIMATE: case MAV_CMD_EXTERNAL_POSITION_ESTIMATE:
return handle_command_int_external_position_estimate(packet); return handle_command_int_external_position_estimate(packet);