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GCS_MAVLink: handle servo/relay events as both command_long and command_int

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This commit is contained in:
Peter Barker 2023-08-25 17:20:12 +10:00 committed by Andrew Tridgell
parent d197ad6a90
commit fe512f7074
3 changed files with 11 additions and 12 deletions
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2
libraries/GCS_MAVLink/GCS.h
View File

@ -765,7 +765,7 @@ private:
virtual void handleMessage(const mavlink_message_t &msg) = 0; virtual void handleMessage(const mavlink_message_t &msg) = 0;
MAV_RESULT handle_servorelay_message(const mavlink_command_long_t &packet); MAV_RESULT handle_servorelay_message(const mavlink_command_int_t &packet);
bool send_relay_status() const; bool send_relay_status() const;
static bool command_long_stores_location(const MAV_CMD command); static bool command_long_stores_location(const MAV_CMD command);

17
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -4843,15 +4843,6 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
result = handle_command_request_message(packet); result = handle_command_request_message(packet);
break; break;
#if AP_SERVORELAYEVENTS_ENABLED
case MAV_CMD_DO_SET_SERVO:
case MAV_CMD_DO_REPEAT_SERVO:
case MAV_CMD_DO_SET_RELAY:
case MAV_CMD_DO_REPEAT_RELAY:
result = handle_servorelay_message(packet);
break;
#endif
case MAV_CMD_DO_FLIGHTTERMINATION: case MAV_CMD_DO_FLIGHTTERMINATION:
result = handle_flight_termination(packet); result = handle_flight_termination(packet);
break; break;
@ -5148,6 +5139,14 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
return handle_command_mag_cal(packet); return handle_command_mag_cal(packet);
#endif #endif
#if AP_SERVORELAYEVENTS_ENABLED
case MAV_CMD_DO_SET_SERVO:
case MAV_CMD_DO_REPEAT_SERVO:
case MAV_CMD_DO_SET_RELAY:
case MAV_CMD_DO_REPEAT_RELAY:
return handle_servorelay_message(packet);
#endif
#if AP_SCRIPTING_ENABLED #if AP_SCRIPTING_ENABLED
case MAV_CMD_SCRIPTING: case MAV_CMD_SCRIPTING:
{ {

4
libraries/GCS_MAVLink/GCS_ServoRelay.cpp
View File

@ -4,7 +4,7 @@
#if AP_SERVORELAYEVENTS_ENABLED #if AP_SERVORELAYEVENTS_ENABLED
MAV_RESULT GCS_MAVLINK::handle_servorelay_message(const mavlink_command_long_t &packet) MAV_RESULT GCS_MAVLINK::handle_servorelay_message(const mavlink_command_int_t &packet)
{ {
AP_ServoRelayEvents *handler = AP::servorelayevents(); AP_ServoRelayEvents *handler = AP::servorelayevents();
if (handler == nullptr) { if (handler == nullptr) {
@ -48,4 +48,4 @@ MAV_RESULT GCS_MAVLINK::handle_servorelay_message(const mavlink_command_long_t &
return result; return result;
} }
#endif #endif // AP_SERVORELAYEVENTS_ENABLED