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Plane: use AP_FOLLOW_ENABLED

This commit is contained in:
Shiv Tyagi 2023-08-11 17:57:55 +05:30 committed by Andrew Tridgell
parent 1c38be93c5
commit ecdc036eb6
3 changed files with 4 additions and 4 deletions
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4
ArduPlane/GCS_Mavlink.cpp
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@ -711,7 +711,7 @@ void GCS_MAVLINK_Plane::packetReceived(const mavlink_status_t &status,
#if HAL_ADSB_ENABLED
plane.avoidance_adsb.handle_msg(msg);
#endif
#if AP_SCRIPTING_ENABLED
#if AP_SCRIPTING_ENABLED && AP_FOLLOW_ENABLED
// pass message to follow library
plane.g2.follow.handle_msg(msg);
#endif
@ -963,7 +963,7 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_packet(const mavlink_command_in
case MAV_CMD_GUIDED_CHANGE_HEADING:
return handle_command_int_guided_slew_commands(packet);
#if AP_SCRIPTING_ENABLED
#if AP_SCRIPTING_ENABLED && AP_FOLLOW_ENABLED
case MAV_CMD_DO_FOLLOW:
// param1: sysid of target to follow
if ((packet.param1 > 0) && (packet.param1 <= 255)) {

2
ArduPlane/Parameters.cpp
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@ -1235,7 +1235,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15
AP_GROUPINFO("ONESHOT_MASK", 32, ParametersG2, oneshot_mask, 0),
#if AP_SCRIPTING_ENABLED
#if AP_SCRIPTING_ENABLED && AP_FOLLOW_ENABLED
// @Group: FOLL
// @Path: ../libraries/AP_Follow/AP_Follow.cpp
AP_SUBGROUPINFO(follow, "FOLL", 33, ParametersG2, AP_Follow),

2
ArduPlane/Parameters.h
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@ -550,7 +550,7 @@ public:
AC_PID guidedHeading{5000.0, 0.0, 0.0, 0 , 10.0, 5.0, 5.0 , 5.0 , 0.2};
#endif
#if AP_SCRIPTING_ENABLED
#if AP_SCRIPTING_ENABLED && AP_FOLLOW_ENABLED
AP_Follow follow;
#endif