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Copter: Support MAV_CMD_DO_REPOSITION on COMMAND_INT

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Michael du Breuil 2020-06-30 13:48:11 -07:00 committed by Andrew Tridgell
parent 0c87b2d885
commit c971fe0ca4
2 changed files with 52 additions and 0 deletions
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51
ArduCopter/GCS_Mavlink.cpp
View File

@ -571,6 +571,55 @@ bool GCS_MAVLINK_Copter::set_home(const Location& loc, bool _lock) {
return copter.set_home(loc, _lock); return copter.set_home(loc, _lock);
} }
MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_do_reposition(const mavlink_command_int_t &packet)
{
const bool change_modes = ((int32_t)packet.param2 & MAV_DO_REPOSITION_FLAGS_CHANGE_MODE) == MAV_DO_REPOSITION_FLAGS_CHANGE_MODE;
if (!copter.flightmode->in_guided_mode() && !change_modes) {
return MAV_RESULT_DENIED;
}
// sanity check location
if (!check_latlng(packet.x, packet.y)) {
return MAV_RESULT_DENIED;
}
Location request_location {};
request_location.lat = packet.x;
request_location.lng = packet.y;
if (fabsf(packet.z) > LOCATION_ALT_MAX_M) {
return MAV_RESULT_DENIED;
}
Location::AltFrame frame;
if (!mavlink_coordinate_frame_to_location_alt_frame((MAV_FRAME)packet.frame, frame)) {
return MAV_RESULT_DENIED; // failed as the location is not valid
}
request_location.set_alt_cm((int32_t)(packet.z * 100.0f), frame);
if (request_location.sanitize(copter.current_loc)) {
// if the location wasn't already sane don't load it
return MAV_RESULT_DENIED; // failed as the location is not valid
}
// we need to do this first, as we don't want to change the flight mode unless we can also set the target
if (!copter.mode_guided.set_destination(request_location, false, 0, false, 0)) {
return MAV_RESULT_FAILED;
}
if (!copter.flightmode->in_guided_mode()) {
if (!copter.set_mode(Mode::Number::GUIDED, ModeReason::GCS_COMMAND)) {
return MAV_RESULT_FAILED;
}
// the position won't have been loaded if we had to change the flight mode, so load it again
if (!copter.mode_guided.set_destination(request_location, false, 0, false, 0)) {
return MAV_RESULT_FAILED;
}
}
return MAV_RESULT_ACCEPTED;
}
MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_packet(const mavlink_command_int_t &packet) MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_packet(const mavlink_command_int_t &packet)
{ {
switch(packet.command) { switch(packet.command) {
@ -584,6 +633,8 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_packet(const mavlink_command_i
#endif #endif
return MAV_RESULT_UNSUPPORTED; return MAV_RESULT_UNSUPPORTED;
case MAV_CMD_DO_REPOSITION:
return handle_command_int_do_reposition(packet);
default: default:
return GCS_MAVLINK::handle_command_int_packet(packet); return GCS_MAVLINK::handle_command_int_packet(packet);
} }

1
ArduCopter/GCS_Mavlink.h
View File

@ -31,6 +31,7 @@ protected:
MAV_RESULT handle_command_mount(const mavlink_command_long_t &packet) override; MAV_RESULT handle_command_mount(const mavlink_command_long_t &packet) override;
MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet) override; MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet) override;
MAV_RESULT handle_command_long_packet(const mavlink_command_long_t &packet) override; MAV_RESULT handle_command_long_packet(const mavlink_command_long_t &packet) override;
MAV_RESULT handle_command_int_do_reposition(const mavlink_command_int_t &packet);
void handle_mount_message(const mavlink_message_t &msg) override; void handle_mount_message(const mavlink_message_t &msg) override;