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GCS_MAVLink: add GCS handling of DO_JUMP_TAG

This commit is contained in:
Tom Pittenger 2023-02-14 12:59:13 -08:00 committed by Tom Pittenger
parent 617da9a873
commit b5bbcffaac
1 changed files with 8 additions and 1 deletions
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9
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -4444,6 +4444,8 @@ MAV_RESULT GCS_MAVLINK::handle_command_preflight_can(const mavlink_command_long_
// the current waypoint, rather than this DO command. It is hoped we
// can move to this command in the future to avoid acknowledgement
// issues with MISSION_SET_CURRENT
// This also handles DO_JUMP_TAG by converting the tag to an index
// and setting the index as if it was a normal do_set_mission_current
MAV_RESULT GCS_MAVLINK::handle_command_do_set_mission_current(const mavlink_command_long_t &packet)
{
AP_Mission *mission = AP::mission();
@ -4452,7 +4454,11 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_set_mission_current(const mavlink_comm
}
const uint32_t seq = (uint32_t)packet.param1;
if (!mission->set_current_cmd(seq)) {
if (packet.command == MAV_CMD_DO_JUMP_TAG) {
if (!mission->jump_to_tag(seq)) {
return MAV_RESULT_FAILED;
}
} else if (!mission->set_current_cmd(seq)) {
return MAV_RESULT_FAILED;
}
@ -4760,6 +4766,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
result = handle_command_do_set_roi(packet);
break;
case MAV_CMD_DO_JUMP_TAG:
case MAV_CMD_DO_SET_MISSION_CURRENT:
result = handle_command_do_set_mission_current(packet);
break;