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Copter: use GCS_MAVLINK subclasses to handle set_mode

This commit is contained in:
Peter Barker 2017-08-11 16:02:52 +10:00
parent f3a0d2b02b
commit aa06fc499c
3 changed files with 13 additions and 16 deletions
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1
ArduCopter/Copter.h
View File

@ -972,7 +972,6 @@ private:
void fence_send_mavlink_status(mavlink_channel_t chan);
void update_sensor_status_flags(void);
bool set_mode(control_mode_t mode, mode_reason_t reason);
bool gcs_set_mode(uint8_t mode) { return set_mode((control_mode_t)mode, MODE_REASON_GCS_COMMAND); }
void update_flight_mode();
void exit_mode(control_mode_t old_control_mode, control_mode_t new_control_mode);
bool mode_requires_GPS(control_mode_t mode);

26
ArduCopter/GCS_Mavlink.cpp
View File

@ -714,21 +714,6 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
break;
}
case MAVLINK_MSG_ID_SET_MODE: // MAV ID: 11
{
#ifdef DISALLOW_GCS_MODE_CHANGE_DURING_RC_FAILSAFE
if (!copter.failsafe.radio) {
handle_set_mode(msg, FUNCTOR_BIND(&copter, &Copter::gcs_set_mode, bool, uint8_t));
} else {
// don't allow mode changes while in radio failsafe
mavlink_msg_command_ack_send_buf(msg, chan, MAVLINK_MSG_ID_SET_MODE, MAV_RESULT_FAILED);
}
#else
handle_set_mode(msg, FUNCTOR_BIND(&copter, &Copter::gcs_set_mode, bool, uint8_t));
#endif
break;
}
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: // MAV ID: 21
{
// if we have not yet initialised (including allocating the motors
@ -1798,3 +1783,14 @@ AP_Rally *GCS_MAVLINK_Copter::get_rally() const
return nullptr;
#endif
}
bool GCS_MAVLINK_Copter::set_mode(const uint8_t mode)
{
#ifdef DISALLOW_GCS_MODE_CHANGE_DURING_RC_FAILSAFE
if (copter.failsafe.radio) {
// don't allow mode changes while in radio failsafe
return false;
}
#endif
return copter.set_mode((control_mode_t)mode, MODE_REASON_GCS_COMMAND);
}

2
ArduCopter/GCS_Mavlink.h
View File

@ -29,6 +29,8 @@ protected:
uint8_t sysid_my_gcs() const override;
bool set_mode(uint8_t mode) override;
private:
void handleMessage(mavlink_message_t * msg) override;