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Plane: move common mission handling up to GCS_MAVLINK

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This commit is contained in:
Peter Barker 2017-07-08 13:12:52 +10:00 committed by Francisco Ferreira
parent 726007efde
commit d850feb75f
2 changed files with 18 additions and 73 deletions
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86
ArduPlane/GCS_Mavlink.cpp
View File

@ -1567,28 +1567,6 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
break;
}
// GCS request the full list of commands, we return just the number and leave the GCS to then request each command individually
case MAVLINK_MSG_ID_MISSION_REQUEST_LIST:
{
handle_mission_request_list(plane.mission, msg);
break;
}
// XXX read a WP from EEPROM and send it to the GCS
case MAVLINK_MSG_ID_MISSION_REQUEST_INT:
case MAVLINK_MSG_ID_MISSION_REQUEST:
{
handle_mission_request(plane.mission, msg);
break;
}
case MAVLINK_MSG_ID_MISSION_ACK:
{
// nothing to do
break;
}
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
{
// mark the firmware version in the tlog
@ -1601,56 +1579,6 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
break;
}
case MAVLINK_MSG_ID_MISSION_CLEAR_ALL:
{
handle_mission_clear_all(plane.mission, msg);
break;
}
case MAVLINK_MSG_ID_MISSION_SET_CURRENT:
{
// disable cross-track when user asks for WP change, to
// prevent unexpected flight paths
plane.auto_state.next_wp_no_crosstrack = true;
handle_mission_set_current(plane.mission, msg);
if (plane.control_mode == AUTO && plane.mission.state() == AP_Mission::MISSION_STOPPED) {
plane.mission.resume();
}
break;
}
// GCS provides the full number of commands it wishes to upload
// individual commands will then be sent from the GCS using the MAVLINK_MSG_ID_MISSION_ITEM message
case MAVLINK_MSG_ID_MISSION_COUNT:
{
handle_mission_count(plane.mission, msg);
break;
}
case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST:
{
handle_mission_write_partial_list(plane.mission, msg);
break;
}
// GCS has sent us a mission item, store to EEPROM
case MAVLINK_MSG_ID_MISSION_ITEM:
{
if (handle_mission_item(msg, plane.mission)) {
plane.DataFlash.Log_Write_EntireMission(plane.mission);
}
break;
}
// GCS has sent us a mission item, store to EEPROM
case MAVLINK_MSG_ID_MISSION_ITEM_INT:
{
if (handle_mission_item(msg, plane.mission)) {
plane.DataFlash.Log_Write_EntireMission(plane.mission);
}
break;
}
#if GEOFENCE_ENABLED == ENABLED
// receive a fence point from GCS and store in EEPROM
case MAVLINK_MSG_ID_FENCE_POINT: {
@ -2180,3 +2108,17 @@ bool GCS_MAVLINK_Plane::accept_packet(const mavlink_status_t &status, mavlink_me
}
return (msg.sysid == plane.g.sysid_my_gcs);
}
AP_Mission *GCS_MAVLINK_Plane::get_mission()
{
return &plane.mission;
}
void GCS_MAVLINK_Plane::handle_mission_set_current(AP_Mission &mission, mavlink_message_t *msg)
{
plane.auto_state.next_wp_no_crosstrack = true;
GCS_MAVLINK::handle_mission_set_current(mission, msg);
if (plane.control_mode == AUTO && plane.mission.state() == AP_Mission::MISSION_STOPPED) {
plane.mission.resume();
}
}

5
ArduPlane/GCS_Mavlink.h
View File

@ -17,7 +17,10 @@ protected:
uint32_t telem_delay() const override;
bool accept_packet(const mavlink_status_t &status, mavlink_message_t &msg) override;
AP_Mission *get_mission() override;
void handle_mission_set_current(AP_Mission &mission, mavlink_message_t *msg) override;
private:
void handleMessage(mavlink_message_t * msg) override;