mirror of https://github.com/ArduPilot/ardupilot
parent
b0112ee804
commit
a8adf187ae
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@ -642,6 +642,10 @@ void GCS_MAVLINK_Plane::packetReceived(const mavlink_status_t &status,
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{
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#if HAL_ADSB_ENABLED
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plane.avoidance_adsb.handle_msg(msg);
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#endif
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#if SHIP_LANDING_ENABLED
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// pass message to follow library
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plane.g2.follow.handle_msg(msg);
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#endif
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GCS_MAVLINK::packetReceived(status, msg);
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}
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@ -874,6 +878,16 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_packet(const mavlink_command_in
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case MAV_CMD_GUIDED_CHANGE_HEADING:
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return handle_command_int_guided_slew_commands(packet);
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case MAV_CMD_DO_FOLLOW:
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#if SHIP_LANDING_ENABLED
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// param1: sysid of target to follow
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if ((packet.param1 > 0) && (packet.param1 <= 255)) {
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plane.g2.follow.set_target_sysid((uint8_t)packet.param1);
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return MAV_RESULT_ACCEPTED;
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}
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#endif
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return MAV_RESULT_FAILED;
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default:
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return GCS_MAVLINK::handle_command_int_packet(packet);
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}
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@ -1075,6 +1089,16 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
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}
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return MAV_RESULT_ACCEPTED;
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#if SHIP_LANDING_ENABLED
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case MAV_CMD_DO_FOLLOW:
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// param1: sysid of target to follow
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if ((packet.param1 > 0) && (packet.param1 <= 255)) {
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plane.g2.follow.set_target_sysid((uint8_t)packet.param1);
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return MAV_RESULT_ACCEPTED;
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}
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return MAV_RESULT_FAILED;
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#endif
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default:
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return GCS_MAVLINK::handle_command_long_packet(packet);
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}
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@ -1230,6 +1230,12 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
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// @Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15
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AP_GROUPINFO("ONESHOT_MASK", 32, ParametersG2, oneshot_mask, 0),
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#if SHIP_LANDING_ENABLED
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// @Group: FOLL
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// @Path: ../libraries/AP_Follow/AP_Follow.cpp
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AP_SUBGROUPINFO(follow, "FOLL", 33, ParametersG2, AP_Follow),
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#endif
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AP_GROUPEND
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};
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@ -545,6 +545,9 @@ public:
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AC_PID guidedHeading{5000.0, 0.0, 0.0, 0 , 10.0, 5.0, 5.0 , 5.0 , 0.2};
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#endif
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#if SHIP_LANDING_ENABLED
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AP_Follow follow;
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#endif
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AP_Float fs_ekf_thresh;
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@ -82,6 +82,7 @@
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#include <AP_Gripper/AP_Gripper.h>
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#include <AP_Landing/AP_Landing.h>
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#include <AP_LandingGear/AP_LandingGear.h> // Landing Gear library
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#include <AP_Follow/AP_Follow.h>
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#include "GCS_Mavlink.h"
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#include "GCS_Plane.h"
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@ -29,6 +29,7 @@ def build(bld):
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'AP_OSD',
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'AC_AutoTune',
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'AP_KDECAN',
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'AP_Follow',
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],
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)
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