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GCS_MAVLink: moved MAV_CMD_AIRFRAME_CONFIGURATION from copter

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Andrew Tridgell 2023-06-19 07:00:03 +10:00 committed by Peter Barker
parent ab07a2ecf3
commit fc904011fb
2 changed files with 33 additions and 0 deletions
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1
libraries/GCS_MAVLink/GCS.h
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@ -655,6 +655,7 @@ protected:
MAV_RESULT handle_command_do_fence_enable(const mavlink_command_long_t &packet); MAV_RESULT handle_command_do_fence_enable(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_debug_trap(const mavlink_command_long_t &packet); MAV_RESULT handle_command_debug_trap(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_set_ekf_source_set(const mavlink_command_long_t &packet); MAV_RESULT handle_command_set_ekf_source_set(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_airframe_configuration(const mavlink_command_long_t &packet);
/* /*
handle MAV_CMD_CAN_FORWARD and CAN_FRAME messages for CAN over MAVLink handle MAV_CMD_CAN_FORWARD and CAN_FRAME messages for CAN over MAVLink

32
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -57,6 +57,7 @@
#include <RC_Channel/RC_Channel.h> #include <RC_Channel/RC_Channel.h>
#include <AP_VisualOdom/AP_VisualOdom.h> #include <AP_VisualOdom/AP_VisualOdom.h>
#include <AP_KDECAN/AP_KDECAN.h> #include <AP_KDECAN/AP_KDECAN.h>
#include <AP_LandingGear/AP_LandingGear.h>
#include "MissionItemProtocol_Waypoints.h" #include "MissionItemProtocol_Waypoints.h"
#include "MissionItemProtocol_Rally.h" #include "MissionItemProtocol_Rally.h"
@ -4540,6 +4541,31 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_sprayer(const mavlink_command_long_t &
} }
#endif #endif
#if AP_LANDINGGEAR_ENABLED
/*
handle MAV_CMD_AIRFRAME_CONFIGURATION for landing gear control
*/
MAV_RESULT GCS_MAVLINK::handle_command_airframe_configuration(const mavlink_command_long_t &packet)
{
// Param 1: Select which gear, not used in ArduPilot
// Param 2: 0 = Deploy, 1 = Retract
// For safety, anything other than 1 will deploy
AP_LandingGear *lg = AP_LandingGear::get_singleton();
if (lg == nullptr) {
return MAV_RESULT_UNSUPPORTED;
}
switch ((uint8_t)packet.param2) {
case 1:
lg->set_position(AP_LandingGear::LandingGear_Retract);
return MAV_RESULT_ACCEPTED;
default:
lg->set_position(AP_LandingGear::LandingGear_Deploy);
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
}
#endif
#if HAL_INS_ACCELCAL_ENABLED #if HAL_INS_ACCELCAL_ENABLED
MAV_RESULT GCS_MAVLINK::handle_command_accelcal_vehicle_pos(const mavlink_command_long_t &packet) MAV_RESULT GCS_MAVLINK::handle_command_accelcal_vehicle_pos(const mavlink_command_long_t &packet)
{ {
@ -4799,6 +4825,12 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
result = handle_fixed_mag_cal_yaw(packet); result = handle_fixed_mag_cal_yaw(packet);
break; break;
#if AP_LANDINGGEAR_ENABLED
case MAV_CMD_AIRFRAME_CONFIGURATION:
result = handle_command_airframe_configuration(packet);
break;
#endif
default: default:
result = MAV_RESULT_UNSUPPORTED; result = MAV_RESULT_UNSUPPORTED;
break; break;