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GCS_MAVLink: add and use AP_ADVANCEDFAILSAFE_ENABLED

This commit is contained in:
Peter Barker 2023-02-06 21:26:40 +11:00 committed by Andrew Tridgell
parent c12486829a
commit 8259f3f870
2 changed files with 8 additions and 0 deletions
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2
libraries/GCS_MAVLink/GCS.h
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@ -7,6 +7,7 @@
#if HAL_GCS_ENABLED
#include <AP_AdvancedFailsafe/AP_AdvancedFailsafe_config.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_Common/AP_Common.h>
#include "GCS_MAVLink.h"
@ -531,6 +532,7 @@ protected:
MAV_RESULT handle_command_request_message(const mavlink_command_long_t &packet);
MAV_RESULT handle_rc_bind(const mavlink_command_long_t &packet);
virtual MAV_RESULT handle_flight_termination(const mavlink_command_long_t &packet);
void handle_send_autopilot_version(const mavlink_message_t &msg);

6
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -3048,6 +3048,7 @@ MAV_RESULT GCS_MAVLINK::handle_preflight_reboot(const mavlink_command_long_t &pa
*/
MAV_RESULT GCS_MAVLINK::handle_flight_termination(const mavlink_command_long_t &packet)
{
#if AP_ADVANCEDFAILSAFE_ENABLED
AP_AdvancedFailsafe *failsafe = AP::advancedfailsafe();
if (failsafe == nullptr) {
return MAV_RESULT_UNSUPPORTED;
@ -3059,6 +3060,9 @@ MAV_RESULT GCS_MAVLINK::handle_flight_termination(const mavlink_command_long_t &
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
#else
return MAV_RESULT_UNSUPPORTED;
#endif
}
/*
@ -6249,11 +6253,13 @@ uint64_t GCS_MAVLINK::capabilities() const
ret |= MAV_PROTOCOL_CAPABILITY_MAVLINK2;
}
#if AP_ADVANCEDFAILSAFE_ENABLED
AP_AdvancedFailsafe *failsafe = AP::advancedfailsafe();
if (failsafe != nullptr && failsafe->enabled()) {
// Copter and Sub may also set this bit as they can always terminate
ret |= MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION;
}
#endif
#if HAL_RALLY_ENABLED
if (AP::rally()) {