Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-23 00:04:02 -04:00
Code Issues Packages Projects Releases Wiki Activity

Plane: allow DO_VTOL_TRANSITION as both LONG and INT commands

Browse Source
This commit is contained in:
Peter Barker 2023-09-12 12:46:10 +10:00 committed by Peter Barker
parent cb2ea97f66
commit ee316f04ed
2 changed files with 16 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

21
ArduPlane/GCS_Mavlink.cpp
View File

@ -984,6 +984,11 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_packet(const mavlink_command_in
case MAV_CMD_DO_CHANGE_SPEED: case MAV_CMD_DO_CHANGE_SPEED:
return handle_command_DO_CHANGE_SPEED(packet); return handle_command_DO_CHANGE_SPEED(packet);
#if HAL_QUADPLANE_ENABLED
case MAV_CMD_DO_VTOL_TRANSITION:
return handle_command_DO_VTOL_TRANSITION(packet);
#endif
default: default:
return GCS_MAVLINK::handle_command_int_packet(packet, msg); return GCS_MAVLINK::handle_command_int_packet(packet, msg);
} }
@ -1094,12 +1099,6 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
(uint16_t)packet.param3, (uint16_t)packet.param3,
packet.param4, packet.param4,
(uint8_t)packet.param5); (uint8_t)packet.param5);
case MAV_CMD_DO_VTOL_TRANSITION:
if (!plane.quadplane.handle_do_vtol_transition((enum MAV_VTOL_STATE)packet.param1)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
#endif #endif
default: default:
@ -1107,6 +1106,16 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
} }
} }
#if HAL_QUADPLANE_ENABLED
MAV_RESULT GCS_MAVLINK_Plane::handle_command_DO_VTOL_TRANSITION(const mavlink_command_int_t &packet)
{
if (!plane.quadplane.handle_do_vtol_transition((enum MAV_VTOL_STATE)packet.param1)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
}
#endif
// this is called on receipt of a MANUAL_CONTROL packet and is // this is called on receipt of a MANUAL_CONTROL packet and is
// expected to call manual_override to override RC input on desired // expected to call manual_override to override RC input on desired
// axes. // axes.

1
ArduPlane/GCS_Mavlink.h
View File

@ -55,6 +55,7 @@ private:
MAV_RESULT handle_command_int_do_reposition(const mavlink_command_int_t &packet); MAV_RESULT handle_command_int_do_reposition(const mavlink_command_int_t &packet);
MAV_RESULT handle_command_int_guided_slew_commands(const mavlink_command_int_t &packet); MAV_RESULT handle_command_int_guided_slew_commands(const mavlink_command_int_t &packet);
MAV_RESULT handle_command_DO_CHANGE_SPEED(const mavlink_command_int_t &packet); MAV_RESULT handle_command_DO_CHANGE_SPEED(const mavlink_command_int_t &packet);
MAV_RESULT handle_command_DO_VTOL_TRANSITION(const mavlink_command_int_t &packet);
bool try_send_message(enum ap_message id) override; bool try_send_message(enum ap_message id) override;
void packetReceived(const mavlink_status_t &status, const mavlink_message_t &msg) override; void packetReceived(const mavlink_status_t &status, const mavlink_message_t &msg) override;