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Copter: handle command_int in base class

This commit is contained in:
Peter Barker 2018-07-04 11:43:51 +10:00 committed by Peter Barker
parent 4ad065de99
commit aa4ee64af2
2 changed files with 82 additions and 91 deletions
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171
ArduCopter/GCS_Mavlink.cpp
View File

@ -604,6 +604,86 @@ MAV_RESULT GCS_MAVLINK_Copter::_handle_command_preflight_calibration(const mavli
return GCS_MAVLINK::_handle_command_preflight_calibration(packet);
}
MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_packet(const mavlink_command_int_t &packet)
{
switch(packet.command) {
case MAV_CMD_DO_FOLLOW:
#if MODE_FOLLOW_ENABLED == ENABLED
// param1: sysid of target to follow
if ((packet.param1 > 0) && (packet.param1 <= 255)) {
copter.g2.follow.set_target_sysid((uint8_t)packet.param1);
return MAV_RESULT_ACCEPTED;
}
#endif
return MAV_RESULT_UNSUPPORTED;
case MAV_CMD_DO_SET_HOME: {
// assume failure
if (is_equal(packet.param1, 1.0f)) {
// if param1 is 1, use current location
if (!copter.set_home_to_current_location(true)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
}
// ensure param1 is zero
if (!is_zero(packet.param1)) {
return MAV_RESULT_FAILED;
}
// check frame type is supported
if (packet.frame != MAV_FRAME_GLOBAL &&
packet.frame != MAV_FRAME_GLOBAL_INT &&
packet.frame != MAV_FRAME_GLOBAL_RELATIVE_ALT &&
packet.frame != MAV_FRAME_GLOBAL_RELATIVE_ALT_INT) {
return MAV_RESULT_UNSUPPORTED;
}
// sanity check location
if (!check_latlng(packet.x, packet.y)) {
return MAV_RESULT_FAILED;
}
Location new_home_loc {};
new_home_loc.lat = packet.x;
new_home_loc.lng = packet.y;
new_home_loc.alt = packet.z * 100;
// handle relative altitude
if (packet.frame == MAV_FRAME_GLOBAL_RELATIVE_ALT || packet.frame == MAV_FRAME_GLOBAL_RELATIVE_ALT_INT) {
if (!AP::ahrs().home_is_set()) {
// cannot use relative altitude if home is not set
return MAV_RESULT_FAILED;
}
new_home_loc.alt += copter.ahrs.get_home().alt;
}
if (!copter.set_home(new_home_loc, true)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
}
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);
copter.flightmode->auto_yaw.set_roi(roi_loc);
return MAV_RESULT_ACCEPTED;
}
default:
return GCS_MAVLINK::handle_command_int_packet(packet);
}
}
void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
{
MAV_RESULT result = MAV_RESULT_FAILED; // assume failure. Each messages id is responsible for return ACK or NAK if required
@ -708,97 +788,6 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
break;
}
case MAVLINK_MSG_ID_COMMAND_INT:
{
// decode packet
mavlink_command_int_t packet;
mavlink_msg_command_int_decode(msg, &packet);
switch(packet.command)
{
case MAV_CMD_DO_FOLLOW:
#if MODE_FOLLOW_ENABLED == ENABLED
// param1: sysid of target to follow
if ((packet.param1 > 0) && (packet.param1 <= 255)) {
copter.g2.follow.set_target_sysid((uint8_t)packet.param1);
result = MAV_RESULT_ACCEPTED;
}
#endif
break;
case MAV_CMD_DO_SET_HOME: {
// assume failure
result = MAV_RESULT_FAILED;
if (is_equal(packet.param1, 1.0f)) {
// if param1 is 1, use current location
if (copter.set_home_to_current_location(true)) {
result = MAV_RESULT_ACCEPTED;
}
break;
}
// ensure param1 is zero
if (!is_zero(packet.param1)) {
break;
}
// check frame type is supported
if (packet.frame != MAV_FRAME_GLOBAL &&
packet.frame != MAV_FRAME_GLOBAL_INT &&
packet.frame != MAV_FRAME_GLOBAL_RELATIVE_ALT &&
packet.frame != MAV_FRAME_GLOBAL_RELATIVE_ALT_INT) {
break;
}
// sanity check location
if (!check_latlng(packet.x, packet.y)) {
break;
}
Location new_home_loc {};
new_home_loc.lat = packet.x;
new_home_loc.lng = packet.y;
new_home_loc.alt = packet.z * 100;
// handle relative altitude
if (packet.frame == MAV_FRAME_GLOBAL_RELATIVE_ALT || packet.frame == MAV_FRAME_GLOBAL_RELATIVE_ALT_INT) {
if (!AP::ahrs().home_is_set()) {
// cannot use relative altitude if home is not set
break;
}
new_home_loc.alt += copter.ahrs.get_home().alt;
}
if (copter.set_home(new_home_loc, true)) {
result = MAV_RESULT_ACCEPTED;
}
break;
}
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)) {
break;
}
Location roi_loc;
roi_loc.lat = packet.x;
roi_loc.lng = packet.y;
roi_loc.alt = (int32_t)(packet.z * 100.0f);
copter.flightmode->auto_yaw.set_roi(roi_loc);
result = MAV_RESULT_ACCEPTED;
break;
}
default:
result = MAV_RESULT_UNSUPPORTED;
break;
}
// send ACK or NAK
mavlink_msg_command_ack_send_buf(msg, chan, packet.command, result);
break;
}
// Pre-Flight calibration requests
case MAVLINK_MSG_ID_COMMAND_LONG: // MAV ID: 76
{

2
ArduCopter/GCS_Mavlink.h
View File

@ -35,6 +35,8 @@ protected:
void send_position_target_global_int() override;
MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet) override;
private:
void handleMessage(mavlink_message_t * msg) override;