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ArduCopter: accept several mode-changing commands via command_int 

... as well as via command_long
This commit is contained in:
Peter Barker 2023-09-26 14:28:40 +10:00 committed by Peter Barker
parent 4a181ede62
commit d54d9ae922
1 changed files with 19 additions and 19 deletions
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38
ArduCopter/GCS_Mavlink.cpp
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@ -795,6 +795,25 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_packet(const mavlink_command_i
return handle_MAV_CMD_DO_WINCH(packet);
#endif
case MAV_CMD_NAV_LOITER_UNLIM:
if (!copter.set_mode(Mode::Number::LOITER, ModeReason::GCS_COMMAND)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
if (!copter.set_mode(Mode::Number::RTL, ModeReason::GCS_COMMAND)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
case MAV_CMD_NAV_VTOL_LAND:
case MAV_CMD_NAV_LAND:
if (!copter.set_mode(Mode::Number::LAND, ModeReason::GCS_COMMAND)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
default:
return GCS_MAVLINK::handle_command_int_packet(packet, msg);
}
@ -846,25 +865,6 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
return MAV_RESULT_FAILED;
#endif
case MAV_CMD_NAV_LOITER_UNLIM:
if (!copter.set_mode(Mode::Number::LOITER, ModeReason::GCS_COMMAND)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
if (!copter.set_mode(Mode::Number::RTL, ModeReason::GCS_COMMAND)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
case MAV_CMD_NAV_VTOL_LAND:
case MAV_CMD_NAV_LAND:
if (!copter.set_mode(Mode::Number::LAND, ModeReason::GCS_COMMAND)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
default:
return GCS_MAVLINK::handle_command_long_packet(packet, msg);
}