Sub: move handling of gimbal messages up

Sub: move handling of mav_cmd_do_mount_control up

Sub: move handling of deprecated mount messages up

Sub: move handling of command_do_set_roi up

Sub: move handling of command_do_set_roi up

Sub: mount no longer takes ahrs in constructor

ArduSub/GCS_Mavlink.cpp

@@ -441,13 +441,6 @@ bool GCS_MAVLINK_Sub::try_send_message(enum ap_message id)
 #endif
         break;
 
-    case MSG_MOUNT_STATUS:
-#if MOUNT == ENABLED
-        CHECK_PAYLOAD_SIZE(MOUNT_STATUS);
-        sub.camera_mount.status_msg(chan);
-#endif // MOUNT == ENABLED
-        break;
-
     case MSG_OPTICAL_FLOW:
 #if OPTFLOW == ENABLED
         CHECK_PAYLOAD_SIZE(OPTICAL_FLOW);
@@ -455,13 +448,6 @@ bool GCS_MAVLINK_Sub::try_send_message(enum ap_message id)
 #endif
         break;
 
-    case MSG_GIMBAL_REPORT:
-#if MOUNT == ENABLED
-        CHECK_PAYLOAD_SIZE(GIMBAL_REPORT);
-        sub.camera_mount.send_gimbal_report(chan);
-#endif
-        break;
-
     case MSG_PID_TUNING:
         CHECK_PAYLOAD_SIZE(PID_TUNING);
         sub.send_pid_tuning(chan);
@@ -661,6 +647,15 @@ MAV_RESULT GCS_MAVLINK_Sub::_handle_command_preflight_calibration(const mavlink_
     return GCS_MAVLINK::_handle_command_preflight_calibration(packet);
 }
 
+MAV_RESULT GCS_MAVLINK_Sub::handle_command_do_set_roi(const Location &roi_loc)
+{
+    if (!check_latlng(roi_loc)) {
+        return MAV_RESULT_FAILED;
+    }
+    sub.set_auto_yaw_roi(roi_loc);
+    return MAV_RESULT_ACCEPTED;
+}
+
 MAV_RESULT GCS_MAVLINK_Sub::handle_command_int_packet(const mavlink_command_int_t &packet)
 {
     switch (packet.command) {
@@ -707,25 +702,6 @@ MAV_RESULT GCS_MAVLINK_Sub::handle_command_int_packet(const mavlink_command_int_
         return MAV_RESULT_FAILED;
     }
 
-    case MAV_CMD_DO_SET_ROI: {
-        // param1 : /* Region of interest mode (not used)*/
-        // param2 : /* MISSION index/ target ID (not used)*/
-        // param3 : /* ROI index (not used)*/
-        // param4 : /* empty */
-        // x : lat
-        // y : lon
-        // z : alt
-        // sanity check location
-        if (!check_latlng(packet.x, packet.y)) {
-            return MAV_RESULT_FAILED;
-        }
-        Location roi_loc;
-        roi_loc.lat = packet.x;
-        roi_loc.lng = packet.y;
-        roi_loc.alt = (int32_t)(packet.z * 100.0f);
-        sub.set_auto_yaw_roi(roi_loc);
-        return MAV_RESULT_ACCEPTED;
-    }
     default:
         return GCS_MAVLINK::handle_command_int_packet(packet);
     }
@@ -801,30 +777,6 @@ MAV_RESULT GCS_MAVLINK_Sub::handle_command_long_packet(const mavlink_command_lon
         }
         return MAV_RESULT_FAILED;
 
-    case MAV_CMD_DO_SET_ROI:
-        // param1 : regional of interest mode (not supported)
-        // param2 : mission index/ target id (not supported)
-        // param3 : ROI index (not supported)
-        // param5 : x / lat
-        // param6 : y / lon
-        // param7 : z / alt
-        // sanity check location
-        if (!check_latlng(packet.param5, packet.param6)) {
-            return MAV_RESULT_FAILED;
-        }
-        Location roi_loc;
-        roi_loc.lat = (int32_t)(packet.param5 * 1.0e7f);
-        roi_loc.lng = (int32_t)(packet.param6 * 1.0e7f);
-        roi_loc.alt = (int32_t)(packet.param7 * 100.0f);
-        sub.set_auto_yaw_roi(roi_loc);
-        return MAV_RESULT_ACCEPTED;
-
-#if MOUNT == ENABLED
-    case MAV_CMD_DO_MOUNT_CONTROL:
-        sub.camera_mount.control(packet.param1, packet.param2, packet.param3, (MAV_MOUNT_MODE) packet.param7);
-        return MAV_RESULT_ACCEPTED;
-#endif
-
     case MAV_CMD_MISSION_START:
         if (sub.motors.armed() && sub.set_mode(AUTO, MODE_REASON_GCS_COMMAND)) {
             return MAV_RESULT_ACCEPTED;
@@ -892,20 +844,6 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
         break;
     }
 
-    case MAVLINK_MSG_ID_PARAM_VALUE: {
-#if MOUNT == ENABLED
-        sub.camera_mount.handle_param_value(msg);
-#endif
-        break;
-    }
-
-    case MAVLINK_MSG_ID_GIMBAL_REPORT: {
-#if MOUNT == ENABLED
-        handle_gimbal_report(sub.camera_mount, msg);
-#endif
-        break;
-    }
-
     case MAVLINK_MSG_ID_MANUAL_CONTROL: {     // MAV ID: 69
         if (msg->sysid != sub.g.sysid_my_gcs) {
             break;    // Only accept control from our gcs
@@ -1143,17 +1081,6 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
         break;
 #endif // AC_FENCE == ENABLED
 
-#if MOUNT == ENABLED
-        //deprecated. Use MAV_CMD_DO_MOUNT_CONFIGURE
-    case MAVLINK_MSG_ID_MOUNT_CONFIGURE:        // MAV ID: 204
-        sub.camera_mount.configure_msg(msg);
-        break;
-        //deprecated. Use MAV_CMD_DO_MOUNT_CONTROL
-    case MAVLINK_MSG_ID_MOUNT_CONTROL:
-        sub.camera_mount.control_msg(msg);
-        break;
-#endif // MOUNT == ENABLED
-
     case MAVLINK_MSG_ID_TERRAIN_DATA:
     case MAVLINK_MSG_ID_TERRAIN_CHECK:
 #if AP_TERRAIN_AVAILABLE && AC_TERRAIN

ArduSub/GCS_Mavlink.h

@@ -22,6 +22,7 @@ protected:
     bool set_mode(uint8_t mode) override;
     bool should_zero_rc_outputs_on_reboot() const override { return true; }
 
+    MAV_RESULT handle_command_do_set_roi(const Location &roi_loc) override;
     MAV_RESULT _handle_command_preflight_calibration_baro() override;
     MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_long_t &packet) override;
     MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet) override;

ArduSub/Sub.h

@@ -408,7 +408,7 @@ private:
     // Camera/Antenna mount tracking and stabilisation stuff
 #if MOUNT == ENABLED
     // current_loc uses the baro/gps soloution for altitude rather than gps only.
-    AP_Mount camera_mount{ahrs, current_loc};
+    AP_Mount camera_mount{current_loc};
 #endif
 
     // AC_Fence library to reduce fly-aways