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GCS_MAVLink: handle common GPS messages in base GCS_MAVLINK class

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Peter Barker 2017-07-25 17:01:47 +10:00 committed by Francisco Ferreira
parent b0a25989b9
commit 85a0da6178
4 changed files with 23 additions and 0 deletions
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2
libraries/GCS_MAVLink/GCS.h
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@ -223,6 +223,7 @@ protected:
virtual AP_Rally *get_rally() const = 0; virtual AP_Rally *get_rally() const = 0;
virtual Compass *get_compass() const = 0; virtual Compass *get_compass() const = 0;
virtual AP_ServoRelayEvents *get_servorelayevents() const = 0; virtual AP_ServoRelayEvents *get_servorelayevents() const = 0;
virtual AP_GPS *get_gps() const = 0;
bool waypoint_receiving; // currently receiving bool waypoint_receiving; // currently receiving
// the following two variables are only here because of Tracker // the following two variables are only here because of Tracker
@ -253,6 +254,7 @@ protected:
void handle_param_request_list(mavlink_message_t *msg); void handle_param_request_list(mavlink_message_t *msg);
void handle_param_request_read(mavlink_message_t *msg); void handle_param_request_read(mavlink_message_t *msg);
void handle_common_gps_message(mavlink_message_t *msg);
void handle_common_rally_message(mavlink_message_t *msg); void handle_common_rally_message(mavlink_message_t *msg);
void handle_rally_fetch_point(mavlink_message_t *msg); void handle_rally_fetch_point(mavlink_message_t *msg);
void handle_rally_point(mavlink_message_t *msg); void handle_rally_point(mavlink_message_t *msg);

19
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -1744,6 +1744,17 @@ void GCS_MAVLINK::handle_statustext(mavlink_message_t *msg)
df->Log_Write_Message(text); df->Log_Write_Message(text);
} }
void GCS_MAVLINK::handle_common_gps_message(mavlink_message_t *msg)
{
AP_GPS *gps = get_gps();
if (gps == nullptr) {
return;
}
gps->handle_msg(msg);
}
/* /*
handle messages which don't require vehicle specific data handle messages which don't require vehicle specific data
*/ */
@ -1800,6 +1811,14 @@ void GCS_MAVLINK::handle_common_message(mavlink_message_t *msg)
handle_common_mission_message(msg); handle_common_mission_message(msg);
break; break;
case MAVLINK_MSG_ID_GPS_RTCM_DATA:
/* fall through */
case MAVLINK_MSG_ID_GPS_INPUT:
/* fall through */
case MAVLINK_MSG_ID_HIL_GPS:
handle_common_gps_message(msg);
break;
case MAVLINK_MSG_ID_STATUSTEXT: case MAVLINK_MSG_ID_STATUSTEXT:
handle_statustext(msg); handle_statustext(msg);
break; break;

1
libraries/GCS_MAVLink/GCS_Dummy.h
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@ -17,6 +17,7 @@ protected:
Compass *get_compass() const override { return nullptr; }; Compass *get_compass() const override { return nullptr; };
AP_Mission *get_mission() override { return nullptr; } AP_Mission *get_mission() override { return nullptr; }
AP_Rally *get_rally() const override { return nullptr; }; AP_Rally *get_rally() const override { return nullptr; };
AP_GPS *get_gps() const override { return nullptr; };
AP_ServoRelayEvents *get_servorelayevents() const override { return nullptr; } AP_ServoRelayEvents *get_servorelayevents() const override { return nullptr; }
uint8_t sysid_my_gcs() const override { return 1; } uint8_t sysid_my_gcs() const override { return 1; }

1
libraries/GCS_MAVLink/examples/routing/routing.cpp
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@ -25,6 +25,7 @@ protected:
AP_Mission *get_mission() override { return nullptr; } AP_Mission *get_mission() override { return nullptr; }
AP_Rally *get_rally() const override { return nullptr; } AP_Rally *get_rally() const override { return nullptr; }
AP_ServoRelayEvents *get_servorelayevents() const override { return nullptr; } AP_ServoRelayEvents *get_servorelayevents() const override { return nullptr; }
AP_GPS *get_gps() const override { return nullptr; };
uint8_t sysid_my_gcs() const override { return 1; } uint8_t sysid_my_gcs() const override { return 1; }
private: private: