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GCS_MAVLink: add send_set_position_target_global_int

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this supports sending the position target to an offboard navigation controller
This commit is contained in:
Randy Mackay 2019-03-08 14:39:59 +09:00
parent 1e1f14f6e9
commit 066a443e5f
2 changed files with 25 additions and 0 deletions
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1
libraries/GCS_MAVLink/GCS.h
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@ -232,6 +232,7 @@ public:
void send_accelcal_vehicle_position(uint32_t position); void send_accelcal_vehicle_position(uint32_t position);
void send_scaled_imu(uint8_t instance, void (*send_fn)(mavlink_channel_t chan, uint32_t time_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)); void send_scaled_imu(uint8_t instance, void (*send_fn)(mavlink_channel_t chan, uint32_t time_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag));
void send_sys_status(); void send_sys_status();
void send_set_position_target_global_int(uint8_t target_system, uint8_t target_component, const Location& loc);
// return a bitmap of active channels. Used by libraries to loop // return a bitmap of active channels. Used by libraries to loop
// over active channels to send to all active channels // over active channels to send to all active channels

24
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -3925,6 +3925,30 @@ void GCS_MAVLINK::send_mount_status() const
mount->send_mount_status(chan); mount->send_mount_status(chan);
} }
void GCS_MAVLINK::send_set_position_target_global_int(uint8_t target_system, uint8_t target_component, const Location& loc)
{
uint16_t type_mask = POSITION_TARGET_TYPEMASK_VX_IGNORE | POSITION_TARGET_TYPEMASK_VY_IGNORE | POSITION_TARGET_TYPEMASK_VZ_IGNORE | \
POSITION_TARGET_TYPEMASK_AX_IGNORE | POSITION_TARGET_TYPEMASK_AY_IGNORE | POSITION_TARGET_TYPEMASK_AZ_IGNORE | \
POSITION_TARGET_TYPEMASK_YAW_IGNORE | POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE;
uint8_t mav_frame = loc.relative_alt ? MAV_FRAME_GLOBAL_RELATIVE_ALT_INT : MAV_FRAME_GLOBAL_INT;
mavlink_msg_set_position_target_global_int_send(
chan,
AP_HAL::millis(),
target_system,
target_component,
mav_frame,
type_mask,
loc.lat,
loc.lng,
loc.alt,
0,0,0, // vx, vy, vz
0,0,0, // ax, ay, az
0,0); // yaw, yaw_rate
}
bool GCS_MAVLINK::try_send_message(const enum ap_message id) bool GCS_MAVLINK::try_send_message(const enum ap_message id)
{ {
bool ret = true; bool ret = true;