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ArduRover: support MAVLINK_MSG_ID_MISSION_ITEM_INT

This commit is contained in:
Michael Oborne 2016-03-08 10:41:00 +08:00 committed by Andrew Tridgell
parent 848fa27d1c
commit 8816c5c681
2 changed files with 18 additions and 9 deletions
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26
APMrover2/GCS_Mavlink.cpp
View File

@ -1175,6 +1175,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// XXX read a WP from EEPROM and send it to the GCS
case MAVLINK_MSG_ID_MISSION_REQUEST_INT:
case MAVLINK_MSG_ID_MISSION_REQUEST:
{
handle_mission_request(rover.mission, msg);
@ -1232,19 +1233,26 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// GCS has sent us a mission item, store to EEPROM
case MAVLINK_MSG_ID_MISSION_ITEM:
{
if (handle_mission_item(msg, rover.mission)) {
rover.DataFlash.Log_Write_EntireMission(rover.mission);
}
break;
{
if (handle_mission_item(msg, rover.mission)) {
rover.DataFlash.Log_Write_EntireMission(rover.mission);
}
break;
}
case MAVLINK_MSG_ID_MISSION_ITEM_INT:
{
if (handle_mission_item(msg, rover.mission)) {
rover.DataFlash.Log_Write_EntireMission(rover.mission);
}
break;
}
case MAVLINK_MSG_ID_PARAM_SET:
{
handle_param_set(msg, &rover.DataFlash);
break;
}
{
handle_param_set(msg, &rover.DataFlash);
break;
}
case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE:
{

1
APMrover2/capabilities.cpp
View File

@ -6,4 +6,5 @@ void Rover::init_capabilities(void)
{
hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT);
hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT);
hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_MISSION_INT);
}