mirror of https://github.com/ArduPilot/ardupilot
109 lines
3.3 KiB
C++
109 lines
3.3 KiB
C++
/*
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GCS MAVLink functions related to upload and download of rally
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points with the ArduPilot-specific protocol comprised of
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MAVLINK_MSG_ID_RALLY_POINT and MAVLINK_MSG_ID_RALLY_FETCH_POINT.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "GCS.h"
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#include <AP_Rally/AP_Rally.h>
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#include <AP_Logger/AP_Logger.h>
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#if HAL_RALLY_ENABLED
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void GCS_MAVLINK::handle_rally_point(const mavlink_message_t &msg) const
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{
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AP_Rally *r = AP::rally();
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if (r == nullptr) {
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return;
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}
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mavlink_rally_point_t packet;
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mavlink_msg_rally_point_decode(&msg, &packet);
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if (packet.idx >= r->get_rally_total() ||
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packet.idx >= r->get_rally_max()) {
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send_text(MAV_SEVERITY_WARNING,"Bad rally point ID");
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return;
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}
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if (packet.count != r->get_rally_total()) {
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send_text(MAV_SEVERITY_WARNING,"Bad rally point count");
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return;
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}
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// sanity check location
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if (!check_latlng(packet.lat, packet.lng)) {
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return;
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}
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RallyLocation rally_point;
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rally_point.lat = packet.lat;
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rally_point.lng = packet.lng;
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rally_point.alt = packet.alt;
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rally_point.break_alt = packet.break_alt;
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rally_point.land_dir = packet.land_dir;
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rally_point.flags = packet.flags;
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if (!r->set_rally_point_with_index(packet.idx, rally_point)) {
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send_text(MAV_SEVERITY_CRITICAL, "Error setting rally point");
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}
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}
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void GCS_MAVLINK::handle_rally_fetch_point(const mavlink_message_t &msg)
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{
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AP_Rally *r = AP::rally();
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if (r == nullptr) {
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return;
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}
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mavlink_rally_fetch_point_t packet;
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mavlink_msg_rally_fetch_point_decode(&msg, &packet);
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if (packet.idx > r->get_rally_total()) {
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send_text(MAV_SEVERITY_WARNING, "Bad rally point ID");
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return;
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}
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RallyLocation rally_point;
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if (!r->get_rally_point_with_index(packet.idx, rally_point)) {
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send_text(MAV_SEVERITY_WARNING, "Failed to get rally point");
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return;
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}
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mavlink_msg_rally_point_send(chan, msg.sysid, msg.compid, packet.idx,
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r->get_rally_total(), rally_point.lat, rally_point.lng,
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rally_point.alt, rally_point.break_alt, rally_point.land_dir,
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rally_point.flags);
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}
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void GCS_MAVLINK::handle_common_rally_message(const mavlink_message_t &msg)
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{
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switch (msg.msgid) {
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case MAVLINK_MSG_ID_RALLY_POINT:
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handle_rally_point(msg);
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break;
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case MAVLINK_MSG_ID_RALLY_FETCH_POINT:
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handle_rally_fetch_point(msg);
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break;
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default:
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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AP_HAL::panic("Unhandled common rally message");
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#endif
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break;
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}
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}
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#endif //#if HAL_RALLY_ENABLED
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