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

AP_Mount: move handling of all do-set-roi to AP_Mount library

Browse Source
This commit is contained in:
Asif Khan 2023-08-26 02:15:03 +05:30 committed by Peter Barker
parent 725a2227ca
commit 3927521aa6
2 changed files with 22 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
libraries/AP_Mount/AP_Mount.cpp
View File

@ -499,6 +499,18 @@ void AP_Mount::handle_command_gimbal_manager_set_pitchyaw(const mavlink_message_
} }
} }
MAV_RESULT AP_Mount::handle_command_do_set_roi_sysid(const mavlink_command_int_t &packet)
{
set_target_sysid((uint8_t)packet.param1);
return MAV_RESULT_ACCEPTED;
}
MAV_RESULT AP_Mount::handle_command_do_set_roi_none()
{
set_mode_to_default();
return MAV_RESULT_ACCEPTED;
}
MAV_RESULT AP_Mount::handle_command(const mavlink_command_int_t &packet, const mavlink_message_t &msg) MAV_RESULT AP_Mount::handle_command(const mavlink_command_int_t &packet, const mavlink_message_t &msg)
{ {
switch (packet.command) { switch (packet.command) {
@ -510,6 +522,10 @@ MAV_RESULT AP_Mount::handle_command(const mavlink_command_int_t &packet, const m
return handle_command_do_gimbal_manager_pitchyaw(packet); return handle_command_do_gimbal_manager_pitchyaw(packet);
case MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE: case MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE:
return handle_command_do_gimbal_manager_configure(packet, msg); return handle_command_do_gimbal_manager_configure(packet, msg);
case MAV_CMD_DO_SET_ROI_SYSID:
return handle_command_do_set_roi_sysid(packet);
case MAV_CMD_DO_SET_ROI_NONE:
return handle_command_do_set_roi_none();
default: default:
return MAV_RESULT_UNSUPPORTED; return MAV_RESULT_UNSUPPORTED;
} }

6
libraries/AP_Mount/AP_Mount.h
View File

@ -177,6 +177,12 @@ public:
void set_target_sysid(uint8_t sysid) { set_target_sysid(_primary, sysid); } void set_target_sysid(uint8_t sysid) { set_target_sysid(_primary, sysid); }
void set_target_sysid(uint8_t instance, uint8_t sysid); void set_target_sysid(uint8_t instance, uint8_t sysid);
// handling of set_roi_sysid message
MAV_RESULT handle_command_do_set_roi_sysid(const mavlink_command_int_t &packet);
// handling of set_roi_none message
MAV_RESULT handle_command_do_set_roi_none();
// mavlink message handling: // mavlink message handling:
MAV_RESULT handle_command(const mavlink_command_int_t &packet, const mavlink_message_t &msg); MAV_RESULT handle_command(const mavlink_command_int_t &packet, const mavlink_message_t &msg);
void handle_param_value(const mavlink_message_t &msg); void handle_param_value(const mavlink_message_t &msg);