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

GCS_MAVLink: support MAV_CMD_BATTERY_RESET command

This commit is contained in:
Andrew Tridgell 2019-06-18 19:30:35 +10:00
parent 11518857b6
commit f28df4dff1
2 changed files with 14 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
libraries/GCS_MAVLink/GCS.h
View File

@ -619,6 +619,7 @@ protected:
MAV_RESULT handle_command_preflight_can(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_battery_reset(const mavlink_command_long_t &packet);
void handle_command_long(mavlink_message_t* msg);
MAV_RESULT handle_command_accelcal_vehicle_pos(const mavlink_command_long_t &packet);
virtual MAV_RESULT handle_command_mount(const mavlink_command_long_t &packet);

14
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -3728,7 +3728,15 @@ MAV_RESULT GCS_MAVLINK::handle_command_preflight_can(const mavlink_command_long_
#endif
}
MAV_RESULT GCS_MAVLINK::handle_command_battery_reset(const mavlink_command_long_t &packet)
{
const uint16_t battery_mask = packet.param1;
const float percentage = packet.param2;
if (AP::battery().reset_remaining(battery_mask, percentage)) {
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
}
MAV_RESULT GCS_MAVLINK::handle_command_mag_cal(const mavlink_command_long_t &packet)
{
@ -3921,6 +3929,10 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
result = handle_command_preflight_calibration(packet);
break;
case MAV_CMD_BATTERY_RESET:
result = handle_command_battery_reset(packet);
break;
case MAV_CMD_PREFLIGHT_UAVCAN:
result = handle_command_preflight_can(packet);
break;