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Rover: deprecate MAV_CMD_NAV_SET_YAW_SPEED

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Peter Barker 2023-08-26 10:37:19 +10:00 committed by Peter Barker
parent 4ae8379616
commit cc3fe56a08
2 changed files with 10 additions and 0 deletions
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5
Rover/GCS_Mavlink.cpp
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@ -680,14 +680,18 @@ MAV_RESULT GCS_MAVLINK_Rover::handle_command_int_packet(const mavlink_command_in
} }
return MAV_RESULT_FAILED; return MAV_RESULT_FAILED;
#if AP_MAVLINK_MAV_CMD_NAV_SET_YAW_SPEED_ENABLED
case MAV_CMD_NAV_SET_YAW_SPEED: case MAV_CMD_NAV_SET_YAW_SPEED:
send_received_message_deprecation_warning("MAV_CMD_NAV_SET_YAW_SPEED");
return handle_command_nav_set_yaw_speed(packet, msg); return handle_command_nav_set_yaw_speed(packet, msg);
#endif
default: default:
return GCS_MAVLINK::handle_command_int_packet(packet, msg); return GCS_MAVLINK::handle_command_int_packet(packet, msg);
} }
} }
#if AP_MAVLINK_MAV_CMD_NAV_SET_YAW_SPEED_ENABLED
MAV_RESULT GCS_MAVLINK_Rover::handle_command_nav_set_yaw_speed(const mavlink_command_int_t &packet, const mavlink_message_t &msg) MAV_RESULT GCS_MAVLINK_Rover::handle_command_nav_set_yaw_speed(const mavlink_command_int_t &packet, const mavlink_message_t &msg)
{ {
// param1 : yaw angle (may be absolute or relative) // param1 : yaw angle (may be absolute or relative)
@ -709,6 +713,7 @@ MAV_RESULT GCS_MAVLINK_Rover::handle_command_nav_set_yaw_speed(const mavlink_com
} }
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;
} }
#endif
MAV_RESULT GCS_MAVLINK_Rover::handle_command_int_do_reposition(const mavlink_command_int_t &packet) MAV_RESULT GCS_MAVLINK_Rover::handle_command_int_do_reposition(const mavlink_command_int_t &packet)
{ {

5
Rover/GCS_Mavlink.h
View File

@ -2,6 +2,11 @@
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
// set 0 in 4.6, remove feature in 4.7:
#ifndef AP_MAVLINK_MAV_CMD_NAV_SET_YAW_SPEED_ENABLED
#define AP_MAVLINK_MAV_CMD_NAV_SET_YAW_SPEED_ENABLED 1
#endif
class GCS_MAVLINK_Rover : public GCS_MAVLINK class GCS_MAVLINK_Rover : public GCS_MAVLINK
{ {
public: public: