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Rover: use handle_set_mode()

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This commit is contained in:
Andrew Tridgell 2014-10-01 14:19:42 +10:00
parent f2e6fa3fb0
commit 9453154b75
2 changed files with 20 additions and 40 deletions
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40
APMrover2/GCS_Mavlink.pde
View File

@ -918,45 +918,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_SET_MODE:
{
// decode
mavlink_set_mode_t packet;
mavlink_msg_set_mode_decode(msg, &packet);
// exit immediately if this command is not meant for this vehicle
if (mavlink_check_target(packet.target_system, 0)) {
break;
}
// set the safety switch position
if (packet.base_mode & MAV_MODE_FLAG_DECODE_POSITION_SAFETY) {
if (packet.custom_mode == 0) {
// turn safety off (pwm outputs flow to the motors)
hal.rcout->force_safety_off();
} else if (packet.custom_mode == 1) {
// turn safety on (no pwm outputs to the motors)
hal.rcout->force_safety_on();
}
break;
}
// check if we are setting the control mode
if (!(packet.base_mode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED)) {
// we ignore base_mode as there is no sane way to map
// from that bitmap to a APM flight mode. We rely on
// custom_mode instead.
break;
}
switch (packet.custom_mode) {
case MANUAL:
case HOLD:
case LEARNING:
case STEERING:
case AUTO:
case RTL:
set_mode((enum mode)packet.custom_mode);
break;
}
handle_set_mode(msg, mavlink_set_mode);
break;
}

18
APMrover2/system.pde
View File

@ -325,6 +325,24 @@ static void set_mode(enum mode mode)
}
}
/*
set_mode() wrapper for MAVLink SET_MODE
*/
static bool mavlink_set_mode(uint8_t mode)
{
switch (mode) {
case MANUAL:
case HOLD:
case LEARNING:
case STEERING:
case AUTO:
case RTL:
set_mode((enum mode)mode);
return true;
}
return false;
}
/*
called to set/unset a failsafe event.
*/