Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-21 23:33:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

ArduCopter: allow MAV_CMD_SOLO_BTN_PAUSE_CLICK as COMMAND_INT

Browse Source
This commit is contained in:
Peter Barker 2023-08-25 11:46:34 +10:00 committed by Peter Barker
parent d10cebd649
commit b725a632d6
2 changed files with 25 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

22
ArduCopter/GCS_Mavlink.cpp
View File

@ -756,6 +756,12 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_packet(const mavlink_command_i
case MAV_CMD_DO_PAUSE_CONTINUE:
return handle_command_pause_continue(packet);
#if AC_MAVLINK_SOLO_BUTTON_COMMAND_HANDLING_ENABLED
// Solo user presses pause button
case MAV_CMD_SOLO_BTN_PAUSE_CLICK:
return handle_MAV_CMD_SOLO_BTN_PAUSE_CLICK(packet);
#endif
default:
return GCS_MAVLINK::handle_command_int_packet(packet, msg);
}
@ -970,8 +976,14 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
return MAV_RESULT_ACCEPTED;
}
/* Solo user presses pause button */
case MAV_CMD_SOLO_BTN_PAUSE_CLICK: {
default:
return GCS_MAVLINK::handle_command_long_packet(packet, msg);
}
}
#if AC_MAVLINK_SOLO_BUTTON_COMMAND_HANDLING_ENABLED
MAV_RESULT GCS_MAVLINK_Copter::handle_MAV_CMD_SOLO_BTN_PAUSE_CLICK(const mavlink_command_int_t &packet)
{
if (copter.failsafe.radio) {
return MAV_RESULT_ACCEPTED;
}
@ -1001,12 +1013,8 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
}
}
return MAV_RESULT_ACCEPTED;
}
default:
return GCS_MAVLINK::handle_command_long_packet(packet, msg);
}
}
#endif // AC_MAVLINK_SOLO_BUTTON_COMMAND_HANDLING_ENABLED
MAV_RESULT GCS_MAVLINK_Copter::handle_command_pause_continue(const mavlink_command_int_t &packet)
{

10
ArduCopter/GCS_Mavlink.h
View File

@ -2,6 +2,10 @@
#include <GCS_MAVLink/GCS.h>
#ifndef AC_MAVLINK_SOLO_BUTTON_COMMAND_HANDLING_ENABLED
#define AC_MAVLINK_SOLO_BUTTON_COMMAND_HANDLING_ENABLED 1
#endif
class GCS_MAVLINK_Copter : public GCS_MAVLINK
{
@ -91,4 +95,10 @@ private:
uint8_t high_latency_wind_speed() const override;
uint8_t high_latency_wind_direction() const override;
#endif // HAL_HIGH_LATENCY2_ENABLED
#if AC_MAVLINK_SOLO_BUTTON_COMMAND_HANDLING_ENABLED
MAV_RESULT handle_MAV_CMD_SOLO_BTN_PAUSE_CLICK(const mavlink_command_int_t &packet);
#endif
};