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GCS_MAVLink: create _handle_set_mode for common msg and cmd-long code

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This commit is contained in:
Peter Barker 2017-09-16 12:29:54 +10:00 committed by Francisco Ferreira
parent d1b47e863d
commit 8507763a1c
2 changed files with 23 additions and 8 deletions
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2
libraries/GCS_MAVLink/GCS.h
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@ -314,6 +314,8 @@ private:
float adjust_rate_for_stream_trigger(enum streams stream_num);
MAV_RESULT _set_mode_common(const MAV_MODE base_mode, const uint32_t custom_mode);
virtual void handleMessage(mavlink_message_t * msg) = 0;
MAV_RESULT handle_servorelay_message(mavlink_command_long_t &packet);

29
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -1291,22 +1291,36 @@ void GCS_MAVLINK::send_battery2(const AP_BattMonitor &battery)
*/
void GCS_MAVLINK::handle_set_mode(mavlink_message_t* msg)
{
uint8_t result = MAV_RESULT_FAILED;
mavlink_set_mode_t packet;
mavlink_msg_set_mode_decode(msg, &packet);
const MAV_MODE base_mode = (MAV_MODE)packet.base_mode;
const uint32_t custom_mode = packet.custom_mode;
const MAV_RESULT result = _set_mode_common(base_mode, custom_mode);
// send ACK or NAK
mavlink_msg_command_ack_send_buf(msg, chan, MAVLINK_MSG_ID_SET_MODE, result);
}
/*
code common to both SET_MODE mavlink message and command long set_mode msg
*/
MAV_RESULT GCS_MAVLINK::_set_mode_common(const MAV_MODE base_mode, const uint32_t custom_mode)
{
MAV_RESULT result = MAV_RESULT_UNSUPPORTED;
// only accept custom modes because there is no easy mapping from Mavlink flight modes to AC flight modes
if (packet.base_mode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED) {
if (set_mode(packet.custom_mode)) {
if (base_mode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED) {
if (set_mode(custom_mode)) {
result = MAV_RESULT_ACCEPTED;
}
} else if (packet.base_mode == MAV_MODE_FLAG_DECODE_POSITION_SAFETY) {
} else if (base_mode == (MAV_MODE)MAV_MODE_FLAG_DECODE_POSITION_SAFETY) {
// set the safety switch position. Must be in a command by itself
if (packet.custom_mode == 0) {
if (custom_mode == 0) {
// turn safety off (pwm outputs flow to the motors)
hal.rcout->force_safety_off();
result = MAV_RESULT_ACCEPTED;
} else if (packet.custom_mode == 1) {
} else if (custom_mode == 1) {
// turn safety on (no pwm outputs to the motors)
if (hal.rcout->force_safety_on()) {
result = MAV_RESULT_ACCEPTED;
@ -1314,8 +1328,7 @@ void GCS_MAVLINK::handle_set_mode(mavlink_message_t* msg)
}
}
// send ACK or NAK
mavlink_msg_command_ack_send_buf(msg, chan, MAVLINK_MSG_ID_SET_MODE, result);
return result;
}
#if AP_AHRS_NAVEKF_AVAILABLE