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GCS_MAVLink: handle CAN_FORWARD as both command_INT and COMMAND_LONG

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Peter Barker 2023-09-19 16:46:08 +10:00 committed by Andrew Tridgell
parent 3c93fd3c5f
commit b44682d1a6
2 changed files with 10 additions and 10 deletions
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4
libraries/GCS_MAVLink/GCS.h
View File

@ -666,7 +666,9 @@ protected:
handle MAV_CMD_CAN_FORWARD and CAN_FRAME messages for CAN over MAVLink
*/
void can_frame_callback(uint8_t bus, const AP_HAL::CANFrame &);
MAV_RESULT handle_can_forward(const mavlink_command_long_t &packet, const mavlink_message_t &msg);
#if HAL_CANMANAGER_ENABLED
MAV_RESULT handle_can_forward(const mavlink_command_int_t &packet, const mavlink_message_t &msg);
#endif
void handle_can_frame(const mavlink_message_t &msg) const;
void handle_optical_flow(const mavlink_message_t &msg);

16
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -3762,17 +3762,15 @@ MAV_RESULT GCS_MAVLINK::handle_command_mag_cal(const mavlink_command_int_t &pack
}
#endif // COMPASS_CAL_ENABLED
#if HAL_CANMANAGER_ENABLED
/*
handle MAV_CMD_CAN_FORWARD
*/
MAV_RESULT GCS_MAVLINK::handle_can_forward(const mavlink_command_long_t &packet, const mavlink_message_t &msg)
MAV_RESULT GCS_MAVLINK::handle_can_forward(const mavlink_command_int_t &packet, const mavlink_message_t &msg)
{
#if HAL_CANMANAGER_ENABLED
return AP::can().handle_can_forward(chan, packet, msg) ? MAV_RESULT_ACCEPTED : MAV_RESULT_FAILED;
#else
return MAV_RESULT_UNSUPPORTED;
#endif
}
#endif
/*
handle CAN_FRAME messages
@ -4863,10 +4861,6 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
break;
#endif
case MAV_CMD_CAN_FORWARD:
result = handle_can_forward(packet, msg);
break;
default:
result = try_command_long_as_command_int(packet, msg);
break;
@ -5111,6 +5105,10 @@ MAV_RESULT GCS_MAVLINK::handle_command_storage_format(const mavlink_command_int_
MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &packet, const mavlink_message_t &msg)
{
switch (packet.command) {
#if HAL_CANMANAGER_ENABLED
case MAV_CMD_CAN_FORWARD:
return handle_can_forward(packet, msg);
#endif
case MAV_CMD_DO_SET_ROI:
case MAV_CMD_DO_SET_ROI_LOCATION:
return handle_command_do_set_roi(packet);