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GCS_MAVLink: handle mag cal as both COMMAND_LONG and COMMAND_INT

This commit is contained in:
Peter Barker 2023-08-02 12:38:10 +10:00 committed by Andrew Tridgell
parent d50c429355
commit d6979e62f0
2 changed files with 18 additions and 23 deletions
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7
libraries/GCS_MAVLink/GCS.h
View File

@ -645,7 +645,10 @@ protected:
MAV_RESULT handle_command_do_set_roi_none();
virtual MAV_RESULT handle_command_mount(const mavlink_command_long_t &packet, const mavlink_message_t &msg);
MAV_RESULT handle_command_mag_cal(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_mag_cal(const mavlink_command_int_t &packet);
MAV_RESULT handle_command_fixed_mag_cal_yaw(const mavlink_command_int_t &packet);
MAV_RESULT try_command_long_as_command_int(const mavlink_command_long_t &packet);
virtual MAV_RESULT handle_command_long_packet(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_camera(const mavlink_command_long_t &packet);
@ -670,8 +673,6 @@ protected:
void handle_optical_flow(const mavlink_message_t &msg);
MAV_RESULT handle_command_fixed_mag_cal_yaw(const mavlink_command_int_t &packet);
void handle_manual_control(const mavlink_message_t &msg);
// default empty handling of LANDING_TARGET

34
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -3712,22 +3712,25 @@ void GCS_MAVLINK::handle_optical_flow(const mavlink_message_t &msg)
#endif
#if COMPASS_CAL_ENABLED
/*
handle MAV_CMD_FIXED_MAG_CAL_YAW
*/
MAV_RESULT GCS_MAVLINK::handle_command_fixed_mag_cal_yaw(const mavlink_command_int_t &packet)
{
#if COMPASS_CAL_ENABLED
Compass &compass = AP::compass();
return compass.mag_cal_fixed_yaw(packet.param1,
uint8_t(packet.param2),
packet.param3,
packet.param4);
#else
return MAV_RESULT_UNSUPPORTED;
#endif
}
MAV_RESULT GCS_MAVLINK::handle_command_mag_cal(const mavlink_command_int_t &packet)
{
return AP::compass().handle_mag_cal_command(packet);
}
#endif // COMPASS_CAL_ENABLED
/*
handle MAV_CMD_CAN_FORWARD
*/
@ -4426,13 +4429,6 @@ MAV_RESULT GCS_MAVLINK::handle_command_battery_reset(const mavlink_command_long_
return MAV_RESULT_FAILED;
}
#if COMPASS_CAL_ENABLED
MAV_RESULT GCS_MAVLINK::handle_command_mag_cal(const mavlink_command_long_t &packet)
{
return AP::compass().handle_mag_cal_command(packet);
}
#endif
#if AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED
MAV_RESULT GCS_MAVLINK::handle_command_request_autopilot_capabilities(const mavlink_command_long_t &packet)
{
@ -4696,15 +4692,6 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
break;
#endif // HAL_HIGH_LATENCY2_ENABLED
#if COMPASS_CAL_ENABLED
case MAV_CMD_DO_START_MAG_CAL:
case MAV_CMD_DO_ACCEPT_MAG_CAL:
case MAV_CMD_DO_CANCEL_MAG_CAL: {
result = handle_command_mag_cal(packet);
break;
}
#endif
case MAV_CMD_START_RX_PAIR:
result = handle_rc_bind(packet);
break;
@ -5146,8 +5133,15 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
#endif
case MAV_CMD_COMPONENT_ARM_DISARM:
return handle_command_component_arm_disarm(packet);
#if COMPASS_CAL_ENABLED
case MAV_CMD_FIXED_MAG_CAL_YAW:
return handle_command_fixed_mag_cal_yaw(packet);
case MAV_CMD_DO_START_MAG_CAL:
case MAV_CMD_DO_ACCEPT_MAG_CAL:
case MAV_CMD_DO_CANCEL_MAG_CAL:
return handle_command_mag_cal(packet);
#endif
#if AP_SCRIPTING_ENABLED
case MAV_CMD_SCRIPTING: