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GCS_Common: refactor try_send_mission_message

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Chobits Tai 2022-11-28 10:13:58 +08:00 committed by Peter Barker
parent e2865f2fbc
commit a73e63b457
1 changed files with 1 additions and 8 deletions
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9
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -5031,7 +5031,6 @@ void GCS::try_send_queued_message_for_type(MAV_MISSION_TYPE type) const {
bool GCS_MAVLINK::try_send_mission_message(const enum ap_message id)
{
bool ret = true;
switch (id) {
case MSG_CURRENT_WAYPOINT:
{
@ -5040,38 +5039,32 @@ bool GCS_MAVLINK::try_send_mission_message(const enum ap_message id)
if (mission != nullptr) {
mavlink_msg_mission_current_send(chan, mission->get_current_nav_index());
}
ret = true;
break;
}
case MSG_MISSION_ITEM_REACHED:
CHECK_PAYLOAD_SIZE(MISSION_ITEM_REACHED);
mavlink_msg_mission_item_reached_send(chan, mission_item_reached_index);
ret = true;
break;
case MSG_NEXT_MISSION_REQUEST_WAYPOINTS:
CHECK_PAYLOAD_SIZE(MISSION_REQUEST);
gcs().try_send_queued_message_for_type(MAV_MISSION_TYPE_MISSION);
ret = true;
break;
#if HAL_RALLY_ENABLED
case MSG_NEXT_MISSION_REQUEST_RALLY:
CHECK_PAYLOAD_SIZE(MISSION_REQUEST);
gcs().try_send_queued_message_for_type(MAV_MISSION_TYPE_RALLY);
ret = true;
break;
#endif
#if AP_FENCE_ENABLED
case MSG_NEXT_MISSION_REQUEST_FENCE:
CHECK_PAYLOAD_SIZE(MISSION_REQUEST);
gcs().try_send_queued_message_for_type(MAV_MISSION_TYPE_FENCE);
ret = true;
break;
#endif
default:
ret = true;
break;
}
return ret;
return true;
}
void GCS_MAVLINK::send_hwstatus()