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GCS_MAVLink: add MAV_CMD_ADSB_IDENT cmd

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Tom Pittenger 2021-06-11 15:16:16 -07:00 committed by Andrew Tridgell
parent 8c9dcf4ad8
commit 896dd49c96
1 changed files with 18 additions and 1 deletions
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19
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -17,6 +17,7 @@
#include "GCS.h"
#include <AC_Fence/AC_Fence.h>
#include <AP_ADSB/AP_ADSB.h>
#include <AP_AHRS/AP_AHRS.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_Arming/AP_Arming.h>
@ -4167,7 +4168,23 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
case MAV_CMD_BATTERY_RESET:
result = handle_command_battery_reset(packet);
break;
case MAV_CMD_DO_ADSB_OUT_IDENT:
#if HAL_ADSB_ENABLED
if (AP::ADSB() == nullptr) {
result = MAV_RESULT_UNSUPPORTED;
} else if (AP::ADSB()->ident_is_active()) {
result = MAV_RESULT_TEMPORARILY_REJECTED;
} else if (AP::ADSB()->ident_start()) {
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
#else
result = MAV_RESULT_UNSUPPORTED;
#endif
break;
case MAV_CMD_PREFLIGHT_UAVCAN:
result = handle_command_preflight_can(packet);
break;