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Rover: move send_autopilot_request calls up to GCS base class

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This commit is contained in:
Peter Barker 2017-08-19 19:59:49 +10:00 committed by Francisco Ferreira
parent 98f9e744b0
commit 85ac69f701
2 changed files with 6 additions and 12 deletions
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17
APMrover2/GCS_Mavlink.cpp
View File

@ -860,14 +860,6 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
}
break;
case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES: {
if (is_equal(packet.param1, 1.0f)) {
send_autopilot_version(FIRMWARE_VERSION);
result = MAV_RESULT_ACCEPTED;
}
break;
}
case MAV_CMD_DO_SET_HOME:
{
// param1 : use current (1=use current location, 0=use specified location)
@ -1278,10 +1270,6 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
rover.rangefinder.handle_msg(msg);
break;
case MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST:
send_autopilot_version(FIRMWARE_VERSION);
break;
case MAVLINK_MSG_ID_VISION_POSITION_DELTA:
rover.g2.visual_odom.handle_msg(msg);
break;
@ -1415,3 +1403,8 @@ bool GCS_MAVLINK_Rover::set_mode(const uint8_t mode)
}
return rover.set_mode(*new_mode, MODE_REASON_GCS_COMMAND);
}
const AP_FWVersion &GCS_MAVLINK_Rover::get_fwver() const
{
return rover.fwver;
}

1
APMrover2/GCS_Mavlink.h
View File

@ -23,6 +23,7 @@ protected:
AP_ServoRelayEvents *get_servorelayevents() const override;
AP_GPS *get_gps() const override;
AP_AdvancedFailsafe *get_advanced_failsafe() const override;
const AP_FWVersion &get_fwver() const override;
uint8_t sysid_my_gcs() const override;