From aea22389360769641d67e99f32f052700e6bf753 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 21 Nov 2019 14:54:07 +1100
Subject: [PATCH] GCS_MAVLink: support MAV_CMD_FIXED_MAG_CAL_YAW
---
libraries/GCS_MAVLink/GCS.h | 2 ++
libraries/GCS_MAVLink/GCS_Common.cpp | 17 +++++++++++++++++
2 files changed, 19 insertions(+)
diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index 183bf23a19..b718fd2cc3 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -414,6 +414,8 @@ protected:
void handle_optical_flow(const mavlink_message_t &msg);
+ MAV_RESULT handle_fixed_mag_cal_yaw(const mavlink_command_long_t &packet);
+
// vehicle-overridable message send function
virtual bool try_send_message(enum ap_message id);
virtual void send_global_position_int();
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 02460708b8..57620fb6b7 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -2951,6 +2951,19 @@ void GCS_MAVLINK::handle_optical_flow(const mavlink_message_t &msg)
optflow->handle_msg(msg);
}
+
+/*
+ handle MAV_CMD_FIXED_MAG_CAL_YAW
+ */
+MAV_RESULT GCS_MAVLINK::handle_fixed_mag_cal_yaw(const mavlink_command_long_t &packet)
+{
+ Compass &compass = AP::compass();
+ return compass.mag_cal_fixed_yaw(packet.param1,
+ uint8_t(packet.param2),
+ packet.param3,
+ packet.param4);
+}
+
/*
handle messages which don't require vehicle specific data
*/
@@ -3665,6 +3678,10 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
return MAV_RESULT_UNSUPPORTED;
+ case MAV_CMD_FIXED_MAG_CAL_YAW:
+ result = handle_fixed_mag_cal_yaw(packet);
+ break;
+
default:
result = MAV_RESULT_UNSUPPORTED;
break;