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Tracker: use GCS_MAVLINK subclasses to handle set_mode

This commit is contained in:
Peter Barker 2017-08-11 16:15:34 +10:00
parent 8eeae45300
commit 947bae2f86
4 changed files with 19 additions and 24 deletions
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23
AntennaTracker/GCS_Mavlink.cpp
View File

@ -740,12 +740,6 @@ mission_failed:
break;
}
case MAVLINK_MSG_ID_SET_MODE:
{
handle_set_mode(msg, FUNCTOR_BIND(&tracker, &Tracker::mavlink_set_mode, bool, uint8_t));
break;
}
case MAVLINK_MSG_ID_SERIAL_CONTROL:
handle_serial_control(msg, tracker.gps);
break;
@ -831,6 +825,23 @@ Compass *GCS_MAVLINK_Tracker::get_compass() const
return &tracker.compass;
}
/*
set_mode() wrapper for MAVLink SET_MODE
*/
bool GCS_MAVLINK_Tracker::set_mode(uint8_t mode)
{
switch (mode) {
case AUTO:
case MANUAL:
case SCAN:
case SERVO_TEST:
case STOP:
tracker.set_mode((enum ControlMode)mode);
return true;
}
return false;
}
/* dummy methods to avoid having to link against AP_Camera */
void AP_Camera::control_msg(mavlink_message_t const*) {}
void AP_Camera::configure(float, float, float, float, float, float, float) {}

2
AntennaTracker/GCS_Mavlink.h
View File

@ -25,6 +25,8 @@ protected:
uint8_t sysid_my_gcs() const override;
bool set_mode(uint8_t mode) override;
private:
void handleMessage(mavlink_message_t * msg) override;

1
AntennaTracker/Tracker.h
View File

@ -241,7 +241,6 @@ private:
void disarm_servos();
void prepare_servos();
void set_mode(enum ControlMode mode);
bool mavlink_set_mode(uint8_t mode);
void check_usb_mux(void);
void update_vehicle_pos_estimate();
void update_tracker_position();

17
AntennaTracker/system.cpp
View File

@ -218,23 +218,6 @@ void Tracker::set_mode(enum ControlMode mode)
DataFlash.Log_Write_Mode(control_mode);
}
/*
set_mode() wrapper for MAVLink SET_MODE
*/
bool Tracker::mavlink_set_mode(uint8_t mode)
{
switch (mode) {
case AUTO:
case MANUAL:
case SCAN:
case SERVO_TEST:
case STOP:
set_mode((enum ControlMode)mode);
return true;
}
return false;
}
void Tracker::check_usb_mux(void)
{
bool usb_check = hal.gpio->usb_connected();