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GCS_MAVLink: handle MAV_CMD_GET_HOME_POSITION as both long and int

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Peter Barker 2023-10-17 12:53:51 +11:00 committed by Andrew Tridgell
parent e8be3a4e21
commit e71227fe3a
2 changed files with 9 additions and 6 deletions
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2
libraries/GCS_MAVLink/GCS.h
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@ -658,7 +658,7 @@ protected:
MAV_RESULT handle_command_do_gripper(const mavlink_command_long_t &packet); MAV_RESULT handle_command_do_gripper(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_do_sprayer(const mavlink_command_long_t &packet); MAV_RESULT handle_command_do_sprayer(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_do_set_mode(const mavlink_command_int_t &packet); MAV_RESULT handle_command_do_set_mode(const mavlink_command_int_t &packet);
MAV_RESULT handle_command_get_home_position(const mavlink_command_long_t &packet); MAV_RESULT handle_command_get_home_position(const mavlink_command_int_t &packet);
MAV_RESULT handle_command_do_fence_enable(const mavlink_command_long_t &packet); MAV_RESULT handle_command_do_fence_enable(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_debug_trap(const mavlink_command_int_t &packet); MAV_RESULT handle_command_debug_trap(const mavlink_command_int_t &packet);
MAV_RESULT handle_command_set_ekf_source_set(const mavlink_command_int_t &packet); MAV_RESULT handle_command_set_ekf_source_set(const mavlink_command_int_t &packet);

13
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -4523,7 +4523,8 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_set_mode(const mavlink_command_int_t &
return _set_mode_common(_base_mode, _custom_mode); return _set_mode_common(_base_mode, _custom_mode);
} }
MAV_RESULT GCS_MAVLINK::handle_command_get_home_position(const mavlink_command_long_t &packet) #if AP_AHRS_ENABLED
MAV_RESULT GCS_MAVLINK::handle_command_get_home_position(const mavlink_command_int_t &packet)
{ {
if (!AP::ahrs().home_is_set()) { if (!AP::ahrs().home_is_set()) {
return MAV_RESULT_FAILED; return MAV_RESULT_FAILED;
@ -4539,6 +4540,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_get_home_position(const mavlink_command_l
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;
} }
#endif // AP_AHRS_ENABLED
MAV_RESULT GCS_MAVLINK::handle_command_debug_trap(const mavlink_command_int_t &packet) MAV_RESULT GCS_MAVLINK::handle_command_debug_trap(const mavlink_command_int_t &packet)
{ {
@ -4819,10 +4821,6 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
break; break;
} }
case MAV_CMD_GET_HOME_POSITION:
result = handle_command_get_home_position(packet);
break;
default: default:
result = try_command_long_as_command_int(packet, msg); result = try_command_long_as_command_int(packet, msg);
break; break;
@ -5134,6 +5132,11 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
return handle_command_mag_cal(packet); return handle_command_mag_cal(packet);
#endif #endif
#if AP_AHRS_ENABLED
case MAV_CMD_GET_HOME_POSITION:
return handle_command_get_home_position(packet);
#endif
case MAV_CMD_PREFLIGHT_CALIBRATION: case MAV_CMD_PREFLIGHT_CALIBRATION:
return handle_command_preflight_calibration(packet, msg); return handle_command_preflight_calibration(packet, msg);