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GCS_MAVLink: move handling of MAV_CMD_DO_SET_FENCE_ENABLED up

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Peter Barker 2019-02-04 11:07:23 +11:00 committed by Randy Mackay
parent b54f61eccc
commit 8d45a8ff53
3 changed files with 24 additions and 0 deletions
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1
libraries/GCS_MAVLink/GCS.h
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@ -407,6 +407,7 @@ protected:
MAV_RESULT handle_command_do_gripper(const mavlink_command_long_t &packet); MAV_RESULT handle_command_do_gripper(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_do_set_mode(const mavlink_command_long_t &packet); MAV_RESULT handle_command_do_set_mode(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_get_home_position(const mavlink_command_long_t &packet); MAV_RESULT handle_command_get_home_position(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_do_fence_enable(const mavlink_command_long_t &packet);
// vehicle-overridable message send function // vehicle-overridable message send function
virtual bool try_send_message(enum ap_message id); virtual bool try_send_message(enum ap_message id);

4
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -3477,6 +3477,10 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
result = handle_command_do_send_banner(packet); result = handle_command_do_send_banner(packet);
break; break;
case MAV_CMD_DO_FENCE_ENABLE:
result = handle_command_do_fence_enable(packet);
break;
case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN: case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
result = handle_preflight_reboot(packet); result = handle_preflight_reboot(packet);
break; break;

19
libraries/GCS_MAVLink/GCS_Fence.cpp
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@ -2,6 +2,25 @@
#include <AC_Fence/AC_Fence.h> #include <AC_Fence/AC_Fence.h>
MAV_RESULT GCS_MAVLINK::handle_command_do_fence_enable(const mavlink_command_long_t &packet)
{
AC_Fence *fence = AP::fence();
if (fence == nullptr) {
return MAV_RESULT_UNSUPPORTED;
}
switch ((uint16_t)packet.param1) {
case 0:
fence->enable(false);
return MAV_RESULT_ACCEPTED;
case 1:
fence->enable(true);
return MAV_RESULT_ACCEPTED;
default:
return MAV_RESULT_FAILED;
}
}
// fence_send_mavlink_status - send fence status to ground station // fence_send_mavlink_status - send fence status to ground station
void GCS_MAVLINK::send_fence_status() const void GCS_MAVLINK::send_fence_status() const
{ {