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GCS_MAVLink: add send_attitude_target

This commit is contained in:
Joshua Henderson 2022-02-03 00:33:10 -05:00 committed by Randy Mackay
parent 629469acbf
commit f3cac9e1aa
3 changed files with 8 additions and 0 deletions
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1
libraries/GCS_MAVLink/GCS.h
View File

@ -308,6 +308,7 @@ public:
void send_gimbal_report() const;
void send_home_position() const;
void send_gps_global_origin() const;
virtual void send_attitude_target() {};
virtual void send_position_target_global_int() { };
virtual void send_position_target_local_ned() { };
void send_servo_output_raw();

6
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -886,6 +886,7 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
{ MAVLINK_MSG_ID_VIBRATION, MSG_VIBRATION},
{ MAVLINK_MSG_ID_RPM, MSG_RPM},
{ MAVLINK_MSG_ID_MISSION_ITEM_REACHED, MSG_MISSION_ITEM_REACHED},
{ MAVLINK_MSG_ID_ATTITUDE_TARGET, MSG_ATTITUDE_TARGET},
{ MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT, MSG_POSITION_TARGET_GLOBAL_INT},
{ MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED, MSG_POSITION_TARGET_LOCAL_NED},
{ MAVLINK_MSG_ID_ADSB_VEHICLE, MSG_ADSB_VEHICLE},
@ -5200,6 +5201,11 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
#endif
break;
case MSG_ATTITUDE_TARGET:
CHECK_PAYLOAD_SIZE(ATTITUDE_TARGET);
send_attitude_target();
break;
case MSG_POSITION_TARGET_GLOBAL_INT:
CHECK_PAYLOAD_SIZE(POSITION_TARGET_GLOBAL_INT);
send_position_target_global_int();

1
libraries/GCS_MAVLink/ap_message.h
View File

@ -81,5 +81,6 @@ enum ap_message : uint8_t {
MSG_AIS_VESSEL,
MSG_MCU_STATUS,
MSG_UAVIONIX_ADSB_OUT_STATUS,
MSG_ATTITUDE_TARGET,
MSG_LAST // MSG_LAST must be the last entry in this enum
};