mirror of https://github.com/ArduPilot/ardupilot
AP_Mission: Reflecting the result of the process
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@ -43,25 +43,21 @@ bool AP_Mission::start_command_do_servorelayevents(const AP_Mission::Mission_Com
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switch (cmd.id) {
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case MAV_CMD_DO_SET_SERVO:
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sre->do_set_servo(cmd.content.servo.channel, cmd.content.servo.pwm);
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return true;
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return sre->do_set_servo(cmd.content.servo.channel, cmd.content.servo.pwm);
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case MAV_CMD_DO_SET_RELAY:
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sre->do_set_relay(cmd.content.relay.num, cmd.content.relay.state);
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return true;
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return sre->do_set_relay(cmd.content.relay.num, cmd.content.relay.state);
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case MAV_CMD_DO_REPEAT_SERVO:
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sre->do_repeat_servo(cmd.content.repeat_servo.channel,
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return sre->do_repeat_servo(cmd.content.repeat_servo.channel,
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cmd.content.repeat_servo.pwm,
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cmd.content.repeat_servo.repeat_count,
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cmd.content.repeat_servo.cycle_time * 1000.0f);
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return true;
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case MAV_CMD_DO_REPEAT_RELAY:
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sre->do_repeat_relay(cmd.content.repeat_relay.num,
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return sre->do_repeat_relay(cmd.content.repeat_relay.num,
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cmd.content.repeat_relay.repeat_count,
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cmd.content.repeat_relay.cycle_time * 1000.0f);
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return true;
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default:
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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AP_HAL::panic("Unhandled servo/relay case");
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