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GCS_MAVLink: move handling of all do-set-roi to AP_Mount library

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This commit is contained in:
Asif Khan 2023-08-26 02:15:03 +05:30 committed by Peter Barker
parent 3927521aa6
commit e3f0904616
2 changed files with 0 additions and 34 deletions
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4
libraries/GCS_MAVLink/GCS.h
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@ -639,10 +639,6 @@ protected:
MAV_RESULT handle_command_battery_reset(const mavlink_command_long_t &packet);
void handle_command_long(const mavlink_message_t &msg);
MAV_RESULT handle_command_accelcal_vehicle_pos(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_do_set_roi_sysid(const uint8_t sysid);
MAV_RESULT handle_command_do_set_roi_sysid(const mavlink_command_int_t &packet);
MAV_RESULT handle_command_do_set_roi_sysid(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_do_set_roi_none();
#if HAL_MOUNT_ENABLED
virtual MAV_RESULT handle_command_mount(const mavlink_command_int_t &packet, const mavlink_message_t &msg);

30
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -5070,34 +5070,6 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_external_position_estimate(const mavl
}
#endif // AP_AHRS_POSITION_RESET_ENABLED
#if HAL_MOUNT_ENABLED
MAV_RESULT GCS_MAVLINK::handle_command_do_set_roi_none()
{
AP_Mount *mount = AP::mount();
if (mount == nullptr) {
return MAV_RESULT_UNSUPPORTED;
}
mount->set_mode_to_default();
return MAV_RESULT_ACCEPTED;
}
MAV_RESULT GCS_MAVLINK::handle_command_do_set_roi_sysid(const uint8_t sysid)
{
AP_Mount *mount = AP::mount();
if (mount == nullptr) {
return MAV_RESULT_UNSUPPORTED;
}
mount->set_target_sysid(sysid);
return MAV_RESULT_ACCEPTED;
}
MAV_RESULT GCS_MAVLINK::handle_command_do_set_roi_sysid(const mavlink_command_int_t &packet)
{
return handle_command_do_set_roi_sysid((uint8_t)packet.param1);
}
#endif
MAV_RESULT GCS_MAVLINK::handle_command_do_set_roi(const mavlink_command_int_t &packet)
{
// be aware that this method is called for both MAV_CMD_DO_SET_ROI
@ -5147,9 +5119,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
return handle_command_do_set_roi(packet);
#if HAL_MOUNT_ENABLED
case MAV_CMD_DO_SET_ROI_SYSID:
return handle_command_do_set_roi_sysid(packet);
case MAV_CMD_DO_SET_ROI_NONE:
return handle_command_do_set_roi_none();
case MAV_CMD_DO_MOUNT_CONFIGURE:
case MAV_CMD_DO_MOUNT_CONTROL:
case MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW: