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

Plane: override mission-changing-command to reset some state

This commit is contained in:
Peter Barker 2021-02-23 15:05:09 +11:00 committed by Peter Barker
parent 4aed767fe9
commit f85e55a611
2 changed files with 18 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

17
ArduPlane/GCS_Mavlink.cpp
View File

@ -1499,8 +1499,25 @@ void GCS_MAVLINK_Plane::handle_rc_channels_override(const mavlink_message_t &msg
GCS_MAVLINK::handle_rc_channels_override(msg);
}
MAV_RESULT GCS_MAVLINK_Plane::handle_command_do_set_mission_current(const mavlink_command_long_t &packet)
{
const MAV_RESULT result = GCS_MAVLINK::handle_command_do_set_mission_current(packet);
if (result != MAV_RESULT_ACCEPTED) {
return result;
}
// if you change this you must change handle_mission_set_current
plane.auto_state.next_wp_crosstrack = false;
if (plane.control_mode == &plane.mode_auto && plane.mission.state() == AP_Mission::MISSION_STOPPED) {
plane.mission.resume();
}
return result;
}
void GCS_MAVLINK_Plane::handle_mission_set_current(AP_Mission &mission, const mavlink_message_t &msg)
{
// if you change this you must change handle_command_do_set_mission_current
plane.auto_state.next_wp_crosstrack = false;
GCS_MAVLINK::handle_mission_set_current(mission, msg);
if (plane.control_mode == &plane.mode_auto && plane.mission.state() == AP_Mission::MISSION_STOPPED) {

1
ArduPlane/GCS_Mavlink.h
View File

@ -23,6 +23,7 @@ protected:
MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_long_t &packet) override;
MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet) override;
MAV_RESULT handle_command_long_packet(const mavlink_command_long_t &packet) override;
MAV_RESULT handle_command_do_set_mission_current(const mavlink_command_long_t &packet) override;
void send_position_target_global_int() override;