Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Plane: move rally-point handling up

This commit is contained in:
Peter Barker 2017-07-13 10:48:41 +10:00 committed by Francisco Ferreira
parent cf50c43f75
commit 983686745e
2 changed files with 7 additions and 54 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

59
ArduPlane/GCS_Mavlink.cpp
View File

@ -1605,60 +1605,6 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
}
#endif // GEOFENCE_ENABLED
// receive a rally point from GCS and store in EEPROM
case MAVLINK_MSG_ID_RALLY_POINT: {
mavlink_rally_point_t packet;
mavlink_msg_rally_point_decode(msg, &packet);
if (packet.idx >= plane.rally.get_rally_total() ||
packet.idx >= plane.rally.get_rally_max()) {
send_text(MAV_SEVERITY_WARNING,"Bad rally point message ID");
break;
}
if (packet.count != plane.rally.get_rally_total()) {
send_text(MAV_SEVERITY_WARNING,"Bad rally point message count");
break;
}
// sanity check location
if (!check_latlng(packet.lat, packet.lng)) {
break;
}
RallyLocation rally_point;
rally_point.lat = packet.lat;
rally_point.lng = packet.lng;
rally_point.alt = packet.alt;
rally_point.break_alt = packet.break_alt;
rally_point.land_dir = packet.land_dir;
rally_point.flags = packet.flags;
plane.rally.set_rally_point_with_index(packet.idx, rally_point);
break;
}
//send a rally point to the GCS
case MAVLINK_MSG_ID_RALLY_FETCH_POINT: {
mavlink_rally_fetch_point_t packet;
mavlink_msg_rally_fetch_point_decode(msg, &packet);
if (packet.idx > plane.rally.get_rally_total()) {
send_text(MAV_SEVERITY_WARNING, "Bad rally point index");
break;
}
RallyLocation rally_point;
if (!plane.rally.get_rally_point_with_index(packet.idx, rally_point)) {
send_text(MAV_SEVERITY_WARNING, "Failed to set rally point");
break;
}
mavlink_msg_rally_point_send_buf(msg,
chan, msg->sysid, msg->compid, packet.idx,
plane.rally.get_rally_total(), rally_point.lat, rally_point.lng,
rally_point.alt, rally_point.break_alt, rally_point.land_dir,
rally_point.flags);
break;
}
case MAVLINK_MSG_ID_PARAM_SET:
{
handle_param_set(msg, &plane.DataFlash);
@ -2113,3 +2059,8 @@ void GCS_MAVLINK_Plane::handle_mission_set_current(AP_Mission &mission, mavlink_
plane.mission.resume();
}
}
AP_Rally *GCS_MAVLINK_Plane::get_rally() const
{
return &plane.rally;
}

2
ArduPlane/GCS_Mavlink.h
View File

@ -21,6 +21,8 @@ protected:
AP_Mission *get_mission() override;
void handle_mission_set_current(AP_Mission &mission, mavlink_message_t *msg) override;
AP_Rally *get_rally() const override;
uint8_t sysid_my_gcs() const override;
private: