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GCS_MAVLink: move handling of visual odometry messages up

This commit is contained in:
Peter Barker 2018-03-08 09:53:27 +11:00 committed by Randy Mackay
parent 41960704b0
commit ed5140307a
2 changed files with 15 additions and 0 deletions
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3
libraries/GCS_MAVLink/GCS.h
View File

@ -20,6 +20,7 @@
#include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
#include <AP_Camera/AP_Camera.h>
#include <AP_AdvancedFailsafe/AP_AdvancedFailsafe.h>
#include <AP_VisualOdom/AP_VisualOdom.h>
#include <AP_Common/AP_FWVersion.h>
// check if a message will fit in the payload space available
@ -231,6 +232,7 @@ protected:
virtual class AP_Camera *get_camera() const = 0;
virtual AP_ServoRelayEvents *get_servorelayevents() const = 0;
virtual AP_AdvancedFailsafe *get_advanced_failsafe() const { return nullptr; };
virtual AP_VisualOdom *get_visual_odom() const { return nullptr; }
virtual bool set_mode(uint8_t mode) = 0;
virtual const AP_FWVersion &get_fwver() const = 0;
virtual void set_ekf_origin(const Location& loc) = 0;
@ -273,6 +275,7 @@ protected:
void handle_gimbal_report(AP_Mount &mount, mavlink_message_t *msg) const;
void handle_radio_status(mavlink_message_t *msg, DataFlash_Class &dataflash, bool log_radio);
void handle_serial_control(const mavlink_message_t *msg);
void handle_vision_position_delta(mavlink_message_t *msg);
void handle_common_message(mavlink_message_t *msg);
void handle_set_gps_global_origin(const mavlink_message_t *msg);

12
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -1863,7 +1863,15 @@ void GCS_MAVLINK::handle_data_packet(mavlink_message_t *msg)
#endif
}
void GCS_MAVLINK::handle_vision_position_delta(mavlink_message_t *msg)
{
AP_VisualOdom *visual_odom = get_visual_odom();
if (visual_odom == nullptr) {
return;
}
visual_odom->handle_msg(msg);
}
/*
handle messages which don't require vehicle specific data
@ -1983,6 +1991,10 @@ void GCS_MAVLINK::handle_common_message(mavlink_message_t *msg)
case MAVLINK_MSG_ID_DATA96:
handle_data_packet(msg);
break;
case MAVLINK_MSG_ID_VISION_POSITION_DELTA:
handle_vision_position_delta(msg);
break;
}
}