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GCS_MAVLink: support gripper commands as both long and int

This commit is contained in:
Peter Barker 2023-11-07 12:01:01 +11:00 committed by Andrew Tridgell
parent 09ab14c69f
commit abf32906d2
2 changed files with 7 additions and 8 deletions
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2
libraries/GCS_MAVLink/GCS.h
View File

@ -657,7 +657,7 @@ protected:
MAV_RESULT handle_command_camera(const mavlink_command_int_t &packet);
MAV_RESULT handle_command_do_set_roi(const mavlink_command_int_t &packet);
virtual MAV_RESULT handle_command_do_set_roi(const Location &roi_loc);
MAV_RESULT handle_command_do_gripper(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_do_gripper(const mavlink_command_int_t &packet);
MAV_RESULT handle_command_do_sprayer(const mavlink_command_int_t &packet);
MAV_RESULT handle_command_do_set_mode(const mavlink_command_int_t &packet);
MAV_RESULT handle_command_get_home_position(const mavlink_command_int_t &packet);

13
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -4552,7 +4552,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_set_ekf_source_set(const mavlink_command_
}
#if AP_GRIPPER_ENABLED
MAV_RESULT GCS_MAVLINK::handle_command_do_gripper(const mavlink_command_long_t &packet)
MAV_RESULT GCS_MAVLINK::handle_command_do_gripper(const mavlink_command_int_t &packet)
{
AP_Gripper *gripper = AP::gripper();
if (gripper == nullptr) {
@ -4726,12 +4726,6 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
switch (packet.command) {
#if AP_GRIPPER_ENABLED
case MAV_CMD_DO_GRIPPER:
result = handle_command_do_gripper(packet);
break;
#endif
#if AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED
case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES: {
result = handle_command_request_autopilot_capabilities(packet);
@ -5048,6 +5042,11 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
case MAV_CMD_DO_FLIGHTTERMINATION:
return handle_flight_termination(packet);
#if AP_GRIPPER_ENABLED
case MAV_CMD_DO_GRIPPER:
return handle_command_do_gripper(packet);
#endif
case MAV_CMD_DO_SET_MODE:
return handle_command_do_set_mode(packet);