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Copter: move servorelayevents mission handling into AP_Mission

This commit is contained in:
Peter Barker 2018-10-23 17:12:19 +11:00 committed by Peter Barker
parent 51d4b2da34
commit f97281eb48
1 changed files with 0 additions and 22 deletions
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22
ArduCopter/mode_auto.cpp
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@ -456,24 +456,6 @@ bool Copter::ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
do_set_home(cmd);
break;
case MAV_CMD_DO_SET_SERVO:
copter.ServoRelayEvents.do_set_servo(cmd.content.servo.channel, cmd.content.servo.pwm);
break;
case MAV_CMD_DO_SET_RELAY:
copter.ServoRelayEvents.do_set_relay(cmd.content.relay.num, cmd.content.relay.state);
break;
case MAV_CMD_DO_REPEAT_SERVO:
copter.ServoRelayEvents.do_repeat_servo(cmd.content.repeat_servo.channel, cmd.content.repeat_servo.pwm,
cmd.content.repeat_servo.repeat_count, cmd.content.repeat_servo.cycle_time * 1000.0f);
break;
case MAV_CMD_DO_REPEAT_RELAY:
copter.ServoRelayEvents.do_repeat_relay(cmd.content.repeat_relay.num, cmd.content.repeat_relay.repeat_count,
cmd.content.repeat_relay.cycle_time * 1000.0f);
break;
case MAV_CMD_DO_SET_ROI: // 201
// point the copter and camera at a region of interest (ROI)
do_roi(cmd);
@ -697,10 +679,6 @@ bool Copter::ModeAuto::verify_command(const AP_Mission::Mission_Command& cmd)
// do commands (always return true)
case MAV_CMD_DO_CHANGE_SPEED:
case MAV_CMD_DO_SET_HOME:
case MAV_CMD_DO_SET_SERVO:
case MAV_CMD_DO_SET_RELAY:
case MAV_CMD_DO_REPEAT_SERVO:
case MAV_CMD_DO_REPEAT_RELAY:
case MAV_CMD_DO_SET_ROI:
case MAV_CMD_DO_MOUNT_CONTROL:
case MAV_CMD_DO_CONTROL_VIDEO: