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Copter: allow winch commands to be run as both COMMAND_LONG and COMMAND_INT

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This commit is contained in:
Peter Barker 2023-09-07 17:40:19 +10:00 committed by Andrew Tridgell
parent 0b225a825c
commit 38ba5da09b
2 changed files with 18 additions and 6 deletions
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19
ArduCopter/GCS_Mavlink.cpp
View File

@ -768,6 +768,11 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_packet(const mavlink_command_i
return handle_MAV_CMD_SOLO_BTN_FLY_CLICK(packet);
#endif
#if AP_WINCH_ENABLED
case MAV_CMD_DO_WINCH:
return handle_MAV_CMD_DO_WINCH(packet);
#endif
default:
return GCS_MAVLINK::handle_command_int_packet(packet, msg);
}
@ -924,8 +929,14 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
packet.param4,
(uint8_t)packet.param5);
default:
return GCS_MAVLINK::handle_command_long_packet(packet, msg);
}
}
#if AP_WINCH_ENABLED
case MAV_CMD_DO_WINCH:
MAV_RESULT GCS_MAVLINK_Copter::handle_MAV_CMD_DO_WINCH(const mavlink_command_int_t &packet)
{
// param1 : winch number (ignored)
// param2 : action (0=relax, 1=relative length control, 2=rate control). See WINCH_ACTIONS enum.
if (!copter.g2.winch.enabled()) {
@ -946,12 +957,8 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
break;
}
return MAV_RESULT_FAILED;
#endif
default:
return GCS_MAVLINK::handle_command_long_packet(packet, msg);
}
}
#endif // AP_WINCH_ENABLED
#if AC_MAVLINK_SOLO_BUTTON_COMMAND_HANDLING_ENABLED
MAV_RESULT GCS_MAVLINK_Copter::handle_MAV_CMD_SOLO_BTN_FLY_CLICK(const mavlink_command_int_t &packet)

5
ArduCopter/GCS_Mavlink.h
View File

@ -1,6 +1,7 @@
#pragma once
#include <GCS_MAVLink/GCS.h>
#include <AP_Winch/AP_Winch_config.h>
#ifndef AC_MAVLINK_SOLO_BUTTON_COMMAND_HANDLING_ENABLED
#define AC_MAVLINK_SOLO_BUTTON_COMMAND_HANDLING_ENABLED 1
@ -103,4 +104,8 @@ private:
MAV_RESULT handle_MAV_CMD_SOLO_BTN_PAUSE_CLICK(const mavlink_command_int_t &packet);
#endif
#if AP_WINCH_ENABLED
MAV_RESULT handle_MAV_CMD_DO_WINCH(const mavlink_command_int_t &packet);
#endif
};