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AP_AccelCal: pass mavlink_command_ack_t to accelcal library 

The library needs to look at the content of the packet.  Given that GCS_MAVLink is already within handle_command_ack, decoding it there makes sense.
This commit is contained in:
Peter Barker 2022-05-25 08:57:36 +10:00 committed by Andrew Tridgell
parent 069fdfae60
commit dcc1818ee2
2 changed files with 3 additions and 5 deletions
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6
libraries/AP_AccelCal/AP_AccelCal.cpp
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@ -362,15 +362,13 @@ bool AP_AccelCal::client_active(uint8_t client_num)
} }
#if HAL_GCS_ENABLED #if HAL_GCS_ENABLED
void AP_AccelCal::handleMessage(const mavlink_message_t &msg) void AP_AccelCal::handle_command_ack(const mavlink_command_ack_t &packet)
{ {
if (!_waiting_for_mavlink_ack) { if (!_waiting_for_mavlink_ack) {
return; return;
} }
_waiting_for_mavlink_ack = false; _waiting_for_mavlink_ack = false;
if (msg.msgid == MAVLINK_MSG_ID_COMMAND_ACK) { _start_collect_sample = true;
_start_collect_sample = true;
}
} }
bool AP_AccelCal::gcs_vehicle_position(float position) bool AP_AccelCal::gcs_vehicle_position(float position)

2
libraries/AP_AccelCal/AP_AccelCal.h
View File

@ -43,7 +43,7 @@ public:
static void register_client(AP_AccelCal_Client* client); static void register_client(AP_AccelCal_Client* client);
#if HAL_GCS_ENABLED #if HAL_GCS_ENABLED
void handleMessage(const mavlink_message_t &msg); void handle_command_ack(const mavlink_command_ack_t &packet);
#endif #endif
// true if we are in a calibration process // true if we are in a calibration process