Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Plane: accept MAV_CMD_DO_LAND_START as both command_long and COMMAND_INT

This commit is contained in:
Peter Barker 2023-09-28 09:27:26 +10:00 committed by Andrew Tridgell
parent 1f8df2204f
commit e965b987f6
1 changed files with 8 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
ArduPlane/GCS_Mavlink.cpp
View File

@ -1000,6 +1000,14 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_packet(const mavlink_command_in
case MAV_CMD_DO_GO_AROUND: case MAV_CMD_DO_GO_AROUND:
return plane.trigger_land_abort(packet.param1) ? MAV_RESULT_ACCEPTED : MAV_RESULT_FAILED; return plane.trigger_land_abort(packet.param1) ? MAV_RESULT_ACCEPTED : MAV_RESULT_FAILED;
case MAV_CMD_DO_LAND_START:
// attempt to switch to next DO_LAND_START command in the mission
if (plane.mission.jump_to_landing_sequence()) {
plane.set_mode(plane.mode_auto, ModeReason::GCS_COMMAND);
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
default: default:
return GCS_MAVLINK::handle_command_int_packet(packet, msg); return GCS_MAVLINK::handle_command_int_packet(packet, msg);
} }
@ -1051,14 +1059,6 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
plane.set_mode(plane.mode_auto, ModeReason::GCS_COMMAND); plane.set_mode(plane.mode_auto, ModeReason::GCS_COMMAND);
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;
case MAV_CMD_DO_LAND_START:
// attempt to switch to next DO_LAND_START command in the mission
if (plane.mission.jump_to_landing_sequence()) {
plane.set_mode(plane.mode_auto, ModeReason::GCS_COMMAND);
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
default: default:
return GCS_MAVLINK::handle_command_long_packet(packet, msg); return GCS_MAVLINK::handle_command_long_packet(packet, msg);
} }