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GCS_MAVLink: handle DO_SET_MISSION_CURRENT as both long and int

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This commit is contained in:
Peter Barker 2023-11-14 19:22:13 +11:00 committed by Peter Barker
parent b572fe80ec
commit d7160aea2d
2 changed files with 11 additions and 12 deletions
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4
libraries/GCS_MAVLink/GCS.h
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@ -638,8 +638,8 @@ protected:
virtual MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_int_t &packet, const mavlink_message_t &msg);
virtual MAV_RESULT _handle_command_preflight_calibration_baro(const mavlink_message_t &msg);
virtual MAV_RESULT handle_command_do_set_mission_current(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_do_jump_tag(const mavlink_command_long_t &packet);
virtual MAV_RESULT handle_command_do_set_mission_current(const mavlink_command_int_t &packet);
MAV_RESULT handle_command_do_jump_tag(const mavlink_command_int_t &packet);
MAV_RESULT handle_command_battery_reset(const mavlink_command_int_t &packet);
void handle_command_long(const mavlink_message_t &msg);

19
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -4452,7 +4452,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_run_prearm_checks(const mavlink_command_i
// the current waypoint, rather than this DO command. It is hoped we
// can move to this command in the future to avoid acknowledgement
// issues with MISSION_SET_CURRENT
MAV_RESULT GCS_MAVLINK::handle_command_do_set_mission_current(const mavlink_command_long_t &packet)
MAV_RESULT GCS_MAVLINK::handle_command_do_set_mission_current(const mavlink_command_int_t &packet)
{
AP_Mission *mission = AP::mission();
if (mission == nullptr) {
@ -4485,7 +4485,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_set_mission_current(const mavlink_comm
return MAV_RESULT_ACCEPTED;
}
MAV_RESULT GCS_MAVLINK::handle_command_do_jump_tag(const mavlink_command_long_t &packet)
MAV_RESULT GCS_MAVLINK::handle_command_do_jump_tag(const mavlink_command_int_t &packet)
{
AP_Mission *mission = AP::mission();
if (mission == nullptr) {
@ -4757,14 +4757,6 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
switch (packet.command) {
case MAV_CMD_DO_JUMP_TAG:
result = handle_command_do_jump_tag(packet);
break;
case MAV_CMD_DO_SET_MISSION_CURRENT:
result = handle_command_do_set_mission_current(packet);
break;
default:
result = try_command_long_as_command_int(packet, msg);
break;
@ -5074,6 +5066,13 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
return handle_command_do_gripper(packet);
#endif
case MAV_CMD_DO_JUMP_TAG:
result = handle_command_do_jump_tag(packet);
break;
case MAV_CMD_DO_SET_MISSION_CURRENT:
return handle_command_do_set_mission_current(packet);
case MAV_CMD_DO_SET_MODE:
return handle_command_do_set_mode(packet);