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Copter: move mavlink support for servo/relay up

This commit is contained in:
Peter Barker 2017-07-14 12:45:51 +10:00 committed by Francisco Ferreira
parent 318861e824
commit b14964eb1e
2 changed files with 6 additions and 24 deletions
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29
ArduCopter/GCS_Mavlink.cpp
View File

@ -1259,30 +1259,6 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
}
break;
case MAV_CMD_DO_SET_SERVO:
if (copter.ServoRelayEvents.do_set_servo(packet.param1, packet.param2)) {
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_DO_REPEAT_SERVO:
if (copter.ServoRelayEvents.do_repeat_servo(packet.param1, packet.param2, packet.param3, packet.param4*1000)) {
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_DO_SET_RELAY:
if (copter.ServoRelayEvents.do_set_relay(packet.param1, packet.param2)) {
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_DO_REPEAT_RELAY:
if (copter.ServoRelayEvents.do_repeat_relay(packet.param1, packet.param2, packet.param3*1000)) {
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
if (is_equal(packet.param1,1.0f) || is_equal(packet.param1,3.0f)) {
AP_Notify::flags.firmware_update = 1;
@ -1976,6 +1952,11 @@ AP_Mission *GCS_MAVLINK_Copter::get_mission()
return &copter.mission;
}
AP_ServoRelayEvents *GCS_MAVLINK_Copter::get_servorelayevents() const
{
return &copter.ServoRelayEvents;
}
AP_Rally *GCS_MAVLINK_Copter::get_rally() const
{
#if AC_RALLY == ENABLED

1
ArduCopter/GCS_Mavlink.h
View File

@ -20,6 +20,7 @@ protected:
AP_Mission *get_mission() override;
AP_Rally *get_rally() const override;
AP_ServoRelayEvents *get_servorelayevents() const override;
uint8_t sysid_my_gcs() const override;