Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-22 16:48:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

GCS_MAVLINK: remove mavlink send_buf usage

Browse Source
This commit is contained in:
Pierre Kancir 2019-04-08 16:15:54 +02:00 committed by Andrew Tridgell
parent 4dbac3de60
commit cc14885913
1 changed files with 15 additions and 17 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

32
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -851,13 +851,12 @@ bool GCS_MAVLINK::handle_mission_item(mavlink_message_t *msg, AP_Mission &missio
waypoint_request_i++;
if (waypoint_request_i >= waypoint_request_last) {
mavlink_msg_mission_ack_send_buf(
msg,
chan,
msg->sysid,
msg->compid,
MAV_MISSION_ACCEPTED,
MAV_MISSION_TYPE_MISSION);
mavlink_msg_mission_ack_send(
chan,
msg->sysid,
msg->compid,
MAV_MISSION_ACCEPTED,
MAV_MISSION_TYPE_MISSION);
send_text(MAV_SEVERITY_INFO,"Flight plan received");
waypoint_receiving = false;
@ -877,13 +876,12 @@ bool GCS_MAVLINK::handle_mission_item(mavlink_message_t *msg, AP_Mission &missio
mission_ack:
// we are rejecting the mission/waypoint
mavlink_msg_mission_ack_send_buf(
msg,
chan,
msg->sysid,
msg->compid,
result,
MAV_MISSION_TYPE_MISSION);
mavlink_msg_mission_ack_send(
chan,
msg->sysid,
msg->compid,
result,
MAV_MISSION_TYPE_MISSION);
return mission_is_complete;
}
@ -2065,7 +2063,7 @@ void GCS_MAVLINK::handle_set_mode(mavlink_message_t* msg)
const MAV_RESULT result = _set_mode_common(_base_mode, _custom_mode);
// send ACK or NAK
mavlink_msg_command_ack_send_buf(msg, chan, MAVLINK_MSG_ID_SET_MODE, result);
mavlink_msg_command_ack_send(chan, MAVLINK_MSG_ID_SET_MODE, result);
}
/*
@ -3734,7 +3732,7 @@ void GCS_MAVLINK::handle_command_long(mavlink_message_t *msg)
const MAV_RESULT result = handle_command_long_packet(packet);
// send ACK or NAK
mavlink_msg_command_ack_send_buf(msg, chan, packet.command, result);
mavlink_msg_command_ack_send(chan, packet.command, result);
}
MAV_RESULT GCS_MAVLINK::handle_command_do_set_roi(const Location &roi_loc)
@ -3851,7 +3849,7 @@ void GCS_MAVLINK::handle_command_int(mavlink_message_t *msg)
const MAV_RESULT result = handle_command_int_packet(packet);
// send ACK or NAK
mavlink_msg_command_ack_send_buf(msg, chan, packet.command, result);
mavlink_msg_command_ack_send(chan, packet.command, result);
}
bool GCS_MAVLINK::try_send_compass_message(const enum ap_message id)