aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Plane: move servorelayevents mission handling into AP_Mission

Browse Source
This commit is contained in:
Peter Barker 2018-10-23 17:25:39 +11:00 committed by Peter Barker
parent 0eff11eebe
commit 1653b34b2b
1 changed files with 0 additions and 22 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

22
ArduPlane/commands_logic.cpp
View File

@ -118,24 +118,6 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
do_set_home(cmd);
break;
case MAV_CMD_DO_SET_SERVO:
ServoRelayEvents.do_set_servo(cmd.content.servo.channel, cmd.content.servo.pwm);
break;
case MAV_CMD_DO_SET_RELAY:
ServoRelayEvents.do_set_relay(cmd.content.relay.num, cmd.content.relay.state);
break;
case MAV_CMD_DO_REPEAT_SERVO:
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:
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_INVERTED_FLIGHT:
if (cmd.p1 == 0 || cmd.p1 == 1) {
auto_state.inverted_flight = (bool)cmd.p1;
@ -316,10 +298,6 @@ bool Plane::verify_command(const AP_Mission::Mission_Command& cmd) // Ret
// 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_INVERTED_FLIGHT:
case MAV_CMD_DO_LAND_START:
case MAV_CMD_DO_FENCE_ENABLE: