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https://github.com/ArduPilot/ardupilot
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Sub: mission library handles gripper
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@ -658,10 +658,6 @@ private:
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void do_digicam_control(const AP_Mission::Mission_Command& cmd);
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#endif
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#if GRIPPER_ENABLED == ENABLED
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void do_gripper(const AP_Mission::Mission_Command& cmd);
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#endif
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bool verify_nav_wp(const AP_Mission::Mission_Command& cmd);
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bool verify_surface(const AP_Mission::Mission_Command& cmd);
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bool verify_RTL(void);
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@ -140,12 +140,6 @@ bool Sub::start_command(const AP_Mission::Mission_Command& cmd)
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break;
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#endif
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#if GRIPPER_ENABLED == ENABLED
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case MAV_CMD_DO_GRIPPER: // Mission command to control gripper
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do_gripper(cmd);
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break;
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#endif
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#if NAV_GUIDED == ENABLED
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case MAV_CMD_DO_GUIDED_LIMITS: // 222 accept guided mode limits
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do_guided_limits(cmd);
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@ -244,7 +238,6 @@ bool Sub::verify_command(const AP_Mission::Mission_Command& cmd)
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case MAV_CMD_DO_DIGICAM_CONFIGURE:
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case MAV_CMD_DO_DIGICAM_CONTROL:
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case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
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case MAV_CMD_DO_GRIPPER:
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case MAV_CMD_DO_GUIDED_LIMITS:
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return true;
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@ -533,27 +526,6 @@ void Sub::do_nav_delay(const AP_Mission::Mission_Command& cmd)
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gcs().send_text(MAV_SEVERITY_INFO, "Delaying %u sec",(unsigned int)(nav_delay_time_max/1000));
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}
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#if GRIPPER_ENABLED == ENABLED
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// do_gripper - control gripper
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void Sub::do_gripper(const AP_Mission::Mission_Command& cmd)
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{
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// Note: we ignore the gripper num parameter because we only support one gripper
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switch (cmd.content.gripper.action) {
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case GRIPPER_ACTION_RELEASE:
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g2.gripper.release();
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Log_Write_Event(DATA_GRIPPER_RELEASE);
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break;
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case GRIPPER_ACTION_GRAB:
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g2.gripper.grab();
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Log_Write_Event(DATA_GRIPPER_GRAB);
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break;
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default:
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// do nothing
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break;
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}
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}
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#endif
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#if NAV_GUIDED == ENABLED
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// do_guided_limits - pass guided limits to guided controller
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void Sub::do_guided_limits(const AP_Mission::Mission_Command& cmd)
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