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AntennaTracker: split out a handle_command_component_arm_disarm

This commit is contained in:
Peter Barker 2021-01-06 10:50:14 +11:00 committed by Randy Mackay
parent 0052500d67
commit c9b906de17
3 changed files with 17 additions and 13 deletions
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24
AntennaTracker/GCS_Mavlink.cpp
View File

@ -417,6 +417,19 @@ MAV_RESULT GCS_MAVLINK_Tracker::_handle_command_preflight_calibration_baro()
return ret;
}
MAV_RESULT GCS_MAVLINK_Tracker::handle_command_component_arm_disarm(const mavlink_command_long_t &packet)
{
if (is_equal(packet.param1,1.0f)) {
tracker.arm_servos();
return MAV_RESULT_ACCEPTED;
}
if (is_zero(packet.param1)) {
tracker.disarm_servos();
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_UNSUPPORTED;
}
MAV_RESULT GCS_MAVLINK_Tracker::handle_command_long_packet(const mavlink_command_long_t &packet)
{
// do command
@ -424,17 +437,6 @@ MAV_RESULT GCS_MAVLINK_Tracker::handle_command_long_packet(const mavlink_command
switch(packet.command) {
case MAV_CMD_COMPONENT_ARM_DISARM:
if (is_equal(packet.param1,1.0f)) {
tracker.arm_servos();
return MAV_RESULT_ACCEPTED;
}
if (is_zero(packet.param1)) {
tracker.disarm_servos();
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_UNSUPPORTED;
case MAV_CMD_DO_SET_SERVO:
// ensure we are in servo test mode
tracker.set_mode(tracker.mode_servotest, ModeReason::SERVOTEST);

1
AntennaTracker/GCS_Mavlink.h
View File

@ -18,6 +18,7 @@ protected:
uint8_t sysid_my_gcs() const override;
MAV_RESULT handle_command_component_arm_disarm(const mavlink_command_long_t &packet) override;
MAV_RESULT _handle_command_preflight_calibration_baro() override;
MAV_RESULT handle_command_long_packet(const mavlink_command_long_t &packet) override;

5
AntennaTracker/Tracker.h
View File

@ -75,6 +75,9 @@ public:
Tracker(void);
void arm_servos();
void disarm_servos();
private:
Parameters g;
@ -211,8 +214,6 @@ private:
bool get_home_eeprom(struct Location &loc);
bool set_home_eeprom(const Location &temp) WARN_IF_UNUSED;
bool set_home(const Location &temp) WARN_IF_UNUSED;
void arm_servos();
void disarm_servos();
void prepare_servos();
void set_mode(Mode &newmode, ModeReason reason);
bool set_mode(uint8_t new_mode, ModeReason reason) override;