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Tracker: move send_autopilot_request calls up to GCS base class

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This commit is contained in:
Peter Barker 2017-08-19 19:53:15 +10:00 committed by Francisco Ferreira
parent 52463a5ed6
commit 98f9e744b0
2 changed files with 6 additions and 12 deletions
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17
AntennaTracker/GCS_Mavlink.cpp
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@ -582,14 +582,6 @@ void GCS_MAVLINK_Tracker::handleMessage(mavlink_message_t* msg)
break;
}
case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES: {
if (is_equal(packet.param1,1.0f)) {
send_autopilot_version(FIRMWARE_VERSION);
result = MAV_RESULT_ACCEPTED;
}
break;
}
case MAV_CMD_ACCELCAL_VEHICLE_POS:
result = MAV_RESULT_FAILED;
@ -740,10 +732,6 @@ mission_failed:
break;
}
case MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST:
send_autopilot_version(FIRMWARE_VERSION);
break;
default:
handle_common_message(msg);
break;
@ -838,6 +826,11 @@ bool GCS_MAVLINK_Tracker::set_mode(uint8_t mode)
return false;
}
const AP_FWVersion &GCS_MAVLINK_Tracker::get_fwver() const
{
return tracker.fwver;
}
/* 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) {}

1
AntennaTracker/GCS_Mavlink.h
View File

@ -22,6 +22,7 @@ protected:
AP_Camera *get_camera() const override { return nullptr; };
AP_ServoRelayEvents *get_servorelayevents() const override { return nullptr; }
AP_GPS *get_gps() const override;
const AP_FWVersion &get_fwver() const override;
uint8_t sysid_my_gcs() const override;