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Tracker: handle common GPS messages in base GCS_MAVLINK class

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This commit is contained in:
Peter Barker 2017-07-25 17:07:26 +10:00 committed by Francisco Ferreira
parent fec152385c
commit d3c5369352
2 changed files with 6 additions and 6 deletions
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11
AntennaTracker/GCS_Mavlink.cpp
View File

@ -817,12 +817,6 @@ mission_failed:
handle_gps_inject(msg, tracker.gps); handle_gps_inject(msg, tracker.gps);
break; break;
case MAVLINK_MSG_ID_GPS_RTCM_DATA:
case MAVLINK_MSG_ID_GPS_INPUT:
case MAVLINK_MSG_ID_HIL_GPS:
tracker.gps.handle_msg(msg);
break;
case MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST: case MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST:
send_autopilot_version(FIRMWARE_VERSION); send_autopilot_version(FIRMWARE_VERSION);
break; break;
@ -895,6 +889,11 @@ void Tracker::gcs_retry_deferred(void)
gcs().service_statustext(); gcs().service_statustext();
} }
AP_GPS *GCS_MAVLINK_Tracker::get_gps() const
{
return &tracker.gps;
}
Compass *GCS_MAVLINK_Tracker::get_compass() const Compass *GCS_MAVLINK_Tracker::get_compass() const
{ {
return &tracker.compass; return &tracker.compass;

1
AntennaTracker/GCS_Mavlink.h
View File

@ -20,6 +20,7 @@ protected:
AP_Mission *get_mission() override { return nullptr; }; AP_Mission *get_mission() override { return nullptr; };
AP_Rally *get_rally() const override { return nullptr; }; AP_Rally *get_rally() const override { return nullptr; };
AP_ServoRelayEvents *get_servorelayevents() const override { return nullptr; } AP_ServoRelayEvents *get_servorelayevents() const override { return nullptr; }
AP_GPS *get_gps() const override;
uint8_t sysid_my_gcs() const override; uint8_t sysid_my_gcs() const override;