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Sub: accept MISSION_START as both long and int

This commit is contained in:
Peter Barker 2023-09-28 08:35:59 +10:00 committed by Peter Barker
parent 8999790ff0
commit c1e12f691e
2 changed files with 11 additions and 5 deletions
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15
ArduSub/GCS_Mavlink.cpp
View File

@ -468,6 +468,9 @@ MAV_RESULT GCS_MAVLINK_Sub::handle_command_int_packet(const mavlink_command_int_
case MAV_CMD_DO_MOTOR_TEST: case MAV_CMD_DO_MOTOR_TEST:
return handle_MAV_CMD_DO_MOTOR_TEST(packet); return handle_MAV_CMD_DO_MOTOR_TEST(packet);
case MAV_CMD_MISSION_START:
return handle_MAV_CMD_MISSION_START(packet);
case MAV_CMD_NAV_LOITER_UNLIM: case MAV_CMD_NAV_LOITER_UNLIM:
return handle_MAV_CMD_NAV_LOITER_UNLIM(packet); return handle_MAV_CMD_NAV_LOITER_UNLIM(packet);
@ -523,15 +526,17 @@ MAV_RESULT GCS_MAVLINK_Sub::handle_command_long_packet(const mavlink_command_lon
} }
return MAV_RESULT_FAILED; return MAV_RESULT_FAILED;
case MAV_CMD_MISSION_START: default:
return GCS_MAVLINK::handle_command_long_packet(packet, msg);
}
}
MAV_RESULT GCS_MAVLINK_Sub::handle_MAV_CMD_MISSION_START(const mavlink_command_int_t &packet)
{
if (sub.motors.armed() && sub.set_mode(Mode::Number::AUTO, ModeReason::GCS_COMMAND)) { if (sub.motors.armed() && sub.set_mode(Mode::Number::AUTO, ModeReason::GCS_COMMAND)) {
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;
} }
return MAV_RESULT_FAILED; return MAV_RESULT_FAILED;
default:
return GCS_MAVLINK::handle_command_long_packet(packet, msg);
}
} }
MAV_RESULT GCS_MAVLINK_Sub::handle_MAV_CMD_DO_MOTOR_TEST(const mavlink_command_int_t &packet) MAV_RESULT GCS_MAVLINK_Sub::handle_MAV_CMD_DO_MOTOR_TEST(const mavlink_command_int_t &packet)

1
ArduSub/GCS_Mavlink.h
View File

@ -53,6 +53,7 @@ private:
int16_t vfr_hud_throttle() const override; int16_t vfr_hud_throttle() const override;
MAV_RESULT handle_MAV_CMD_MISSION_START(const mavlink_command_int_t &packet);
MAV_RESULT handle_MAV_CMD_DO_MOTOR_TEST(const mavlink_command_int_t &packet); MAV_RESULT handle_MAV_CMD_DO_MOTOR_TEST(const mavlink_command_int_t &packet);
MAV_RESULT handle_MAV_CMD_NAV_LOITER_UNLIM(const mavlink_command_int_t &packet); MAV_RESULT handle_MAV_CMD_NAV_LOITER_UNLIM(const mavlink_command_int_t &packet);
MAV_RESULT handle_MAV_CMD_NAV_LAND(const mavlink_command_int_t &packet); MAV_RESULT handle_MAV_CMD_NAV_LAND(const mavlink_command_int_t &packet);