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Rover: move mavlink support for servo/relay up

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This commit is contained in:
Peter Barker 2017-07-14 12:49:40 +10:00 committed by Francisco Ferreira
parent 36eab56178
commit bcf7c6e6b6
2 changed files with 6 additions and 24 deletions
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29
APMrover2/GCS_Mavlink.cpp
View File

@ -965,30 +965,6 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
}
break;
case MAV_CMD_DO_SET_SERVO:
if (rover.ServoRelayEvents.do_set_servo(packet.param1, packet.param2)) {
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_DO_REPEAT_SERVO:
if (rover.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 (rover.ServoRelayEvents.do_set_relay(packet.param1, packet.param2)) {
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_DO_REPEAT_RELAY:
if (rover.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)) {
// when packet.param1 == 3 we reboot to hold in bootloader
@ -1560,6 +1536,11 @@ bool GCS_MAVLINK_Rover::accept_packet(const mavlink_status_t &status, mavlink_me
return (msg.sysid == rover.g.sysid_my_gcs);
}
AP_ServoRelayEvents *GCS_MAVLINK_Rover::get_servorelayevents() const
{
return &rover.ServoRelayEvents;
}
AP_Mission *GCS_MAVLINK_Rover::get_mission()
{
return &rover.mission;

1
APMrover2/GCS_Mavlink.h
View File

@ -18,6 +18,7 @@ protected:
AP_Mission *get_mission() override;
AP_Rally *get_rally() const override { return nullptr; };
AP_ServoRelayEvents *get_servorelayevents() const override;
uint8_t sysid_my_gcs() const override;