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ArduPlane: accept LOITER_UNLIM and RETURN_TO_LAUNCH as command_int

This commit is contained in:
Peter Barker 2023-10-11 22:20:45 +11:00 committed by Peter Barker
parent 816b92346e
commit c990b0105e
1 changed files with 8 additions and 8 deletions
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16
ArduPlane/GCS_Mavlink.cpp
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@ -1014,6 +1014,14 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_packet(const mavlink_command_in
plane.set_mode(plane.mode_auto, ModeReason::GCS_COMMAND);
return MAV_RESULT_ACCEPTED;
case MAV_CMD_NAV_LOITER_UNLIM:
plane.set_mode(plane.mode_loiter, ModeReason::GCS_COMMAND);
return MAV_RESULT_ACCEPTED;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
plane.set_mode(plane.mode_rtl, ModeReason::GCS_COMMAND);
return MAV_RESULT_ACCEPTED;
default:
return GCS_MAVLINK::handle_command_int_packet(packet, msg);
}
@ -1041,14 +1049,6 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
{
switch(packet.command) {
case MAV_CMD_NAV_LOITER_UNLIM:
plane.set_mode(plane.mode_loiter, ModeReason::GCS_COMMAND);
return MAV_RESULT_ACCEPTED;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
plane.set_mode(plane.mode_rtl, ModeReason::GCS_COMMAND);
return MAV_RESULT_ACCEPTED;
#if HAL_QUADPLANE_ENABLED
case MAV_CMD_NAV_TAKEOFF: {
// user takeoff only works with quadplane code for now