AP_Mount: add handle_global_position_int() method to backend and use it + little spelling

libraries/AP_Mount/AP_Mount.cpp

@@ -618,19 +618,9 @@ void AP_Mount::handle_global_position_int(const mavlink_message_t &msg)
     }
 
     for (uint8_t instance=0; instance<AP_MOUNT_MAX_INSTANCES; instance++) {
-        if (_backends[instance] == nullptr) {
+        if (_backends[instance] != nullptr) {
-            continue;
+            _backends[instance]->handle_global_position_int(msg.sysid, packet);
         }
-        struct mount_state &_state = state[instance];
-        if (_state._target_sysid != msg.sysid) {
-            continue;
-        }
-        _state._target_sysid_location.lat = packet.lat;
-        _state._target_sysid_location.lng = packet.lon;
-        // global_position_int.alt is *UP*, so is location.
-        _state._target_sysid_location.set_alt_cm(packet.alt*0.1,
-                                                 Location::AltFrame::ABSOLUTE);
-        _state._target_sysid_location_set = true;
     }
 }
 
@@ -665,7 +655,7 @@ void AP_Mount::handle_mount_control(const mavlink_message_t &msg)
 /// Return mount status information
 void AP_Mount::send_mount_status(mavlink_channel_t chan)
 {
-    // call send_mount_status for  each instance
+    // call send_mount_status for each instance
     for (uint8_t instance=0; instance<AP_MOUNT_MAX_INSTANCES; instance++) {
         if (_backends[instance] != nullptr) {
             _backends[instance]->send_mount_status(chan);

libraries/AP_Mount/AP_Mount_Backend.cpp

@@ -36,7 +36,7 @@ void AP_Mount_Backend::set_target_sysid(uint8_t sysid)
     _frontend.set_mode(_instance, MAV_MOUNT_MODE_SYSID_TARGET);
 }
 
-// process MOUNT_CONFIGURE messages received from GCS.  deprecated.
+// process MOUNT_CONFIGURE messages received from GCS. deprecated.
 void AP_Mount_Backend::handle_mount_configure(const mavlink_mount_configure_t &packet)
 {
     set_mode((MAV_MOUNT_MODE)packet.mount_mode);
@@ -98,6 +98,22 @@ void AP_Mount_Backend::control(int32_t pitch_or_lat, int32_t roll_or_lon, int32_
     }
 }
 
+// handle a GLOBAL_POSITION_INT message
+bool AP_Mount_Backend::handle_global_position_int(uint8_t msg_sysid, const mavlink_global_position_int_t &packet)
+{
+    if (_state._target_sysid != msg_sysid) {
+        return false;
+    }
+
+    _state._target_sysid_location.lat = packet.lat;
+    _state._target_sysid_location.lng = packet.lon;
+    // global_position_int.alt is *UP*, so is location.
+    _state._target_sysid_location.set_alt_cm(packet.alt*0.1, Location::AltFrame::ABSOLUTE);
+    _state._target_sysid_location_set = true;
+
+    return true;
+}
+
 void AP_Mount_Backend::rate_input_rad(float &out, const RC_Channel *chan, float min, float max) const
 {
     if ((chan == nullptr) || (chan->get_radio_in() == 0)) {

libraries/AP_Mount/AP_Mount_Backend.h

@@ -64,10 +64,10 @@ public:
     // control - control the mount
     virtual void control(int32_t pitch_or_lat, int32_t roll_or_lon, int32_t yaw_or_alt, MAV_MOUNT_MODE mount_mode);
     
-    // process MOUNT_CONFIGURE messages received from GCS:
+    // process MOUNT_CONFIGURE messages received from GCS. deprecated.
     void handle_mount_configure(const mavlink_mount_configure_t &msg);
 
-    // process MOUNT_CONTROL messages received from GCS:
+    // process MOUNT_CONTROL messages received from GCS. deprecated.
     void handle_mount_control(const mavlink_mount_control_t &packet);
 
     // send_mount_status - called to allow mounts to send their status to GCS via MAVLink
@@ -82,6 +82,9 @@ public:
     // send a GIMBAL_REPORT message to the GCS
     virtual void send_gimbal_report(const mavlink_channel_t chan) {}
 
+    // handle a GLOBAL_POSITION_INT message
+    bool handle_global_position_int(uint8_t msg_sysid, const mavlink_global_position_int_t &packet);
+
 protected:
 
     // update_targets_from_rc - updates angle targets (i.e. _angle_ef_target_rad) using input from receiver