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Plane: enable messages for MAVLink gimbal support

This commit is contained in:
Andrew Tridgell 2015-05-26 08:30:30 +10:00
parent b1f7b80f7e
commit 97687f04af
2 changed files with 23 additions and 2 deletions
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17
ArduPlane/GCS_Mavlink.cpp
View File

@ -703,11 +703,17 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
#endif
break;
case MSG_GIMBAL_REPORT:
#if MOUNT == ENABLED
CHECK_PAYLOAD_SIZE(GIMBAL_REPORT);
plane.camera_mount.send_gimbal_report(chan);
#endif
break;
case MSG_RETRY_DEFERRED:
break; // just here to prevent a warning
case MSG_LIMITS_STATUS:
case MSG_GIMBAL_REPORT:
// unused
break;
}
@ -940,6 +946,7 @@ GCS_MAVLINK::data_stream_send(void)
send_message(MSG_MOUNT_STATUS);
send_message(MSG_OPTICAL_FLOW);
send_message(MSG_EKF_STATUS_REPORT);
send_message(MSG_GIMBAL_REPORT);
}
}
@ -1454,6 +1461,14 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
case MAVLINK_MSG_ID_GIMBAL_REPORT:
{
#if MOUNT == ENABLED
handle_gimbal_report(plane.camera_mount, msg);
#endif
break;
}
case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE:
{
// allow override of RC channel values for HIL

8
ArduPlane/commands_logic.cpp
View File

@ -175,6 +175,13 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
camera_mount.set_roi_target(cmd.content.location);
}
break;
case MAV_CMD_DO_MOUNT_CONTROL: // 205
// point the camera to a specified angle
camera_mount.set_angle_targets(cmd.content.mount_control.roll,
cmd.content.mount_control.pitch,
cmd.content.mount_control.yaw);
break;
#endif
}
@ -247,7 +254,6 @@ bool Plane::verify_command(const AP_Mission::Mission_Command& cmd) // Ret
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
case MAV_CMD_NAV_ROI:
case MAV_CMD_DO_MOUNT_CONFIGURE:
case MAV_CMD_DO_MOUNT_CONTROL:
case MAV_CMD_DO_INVERTED_FLIGHT:
case MAV_CMD_DO_LAND_START:
case MAV_CMD_DO_FENCE_ENABLE: