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

GCS_MAVLink: satisfy TODO; rename packet to mission_item_int

Browse Source
This commit is contained in:
Peter Barker 2019-12-12 12:44:05 +11:00 committed by Andrew Tridgell
parent e065f6c629
commit 406c94cdbf
1 changed files with 8 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

17
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -818,26 +818,25 @@ void GCS_MAVLINK::handle_radio_status(const mavlink_message_t &msg, bool log_rad
void GCS_MAVLINK::handle_mission_item(const mavlink_message_t &msg)
{
// TODO: rename packet to mission_item_int
mavlink_mission_item_int_t packet;
mavlink_mission_item_int_t mission_item_int;
if (msg.msgid == MAVLINK_MSG_ID_MISSION_ITEM) {
mavlink_mission_item_t mission_item;
mavlink_msg_mission_item_decode(&msg, &mission_item);
MAV_MISSION_RESULT ret = AP_Mission::convert_MISSION_ITEM_to_MISSION_ITEM_INT(mission_item, packet);
MAV_MISSION_RESULT ret = AP_Mission::convert_MISSION_ITEM_to_MISSION_ITEM_INT(mission_item, mission_item_int);
if (ret != MAV_MISSION_ACCEPTED) {
const MAV_MISSION_TYPE type = (MAV_MISSION_TYPE)packet.mission_type;
const MAV_MISSION_TYPE type = (MAV_MISSION_TYPE)mission_item_int.mission_type;
send_mission_ack(msg, type, ret);
return;
}
} else {
mavlink_msg_mission_item_int_decode(&msg, &packet);
mavlink_msg_mission_item_int_decode(&msg, &mission_item_int);
}
const uint8_t current = packet.current;
const MAV_MISSION_TYPE type = (MAV_MISSION_TYPE)packet.mission_type;
const uint8_t current = mission_item_int.current;
const MAV_MISSION_TYPE type = (MAV_MISSION_TYPE)mission_item_int.mission_type;
if (type == MAV_MISSION_TYPE_MISSION && (current == 2 || current == 3)) {
struct AP_Mission::Mission_Command cmd = {};
MAV_MISSION_RESULT result = AP_Mission::mavlink_int_to_mission_cmd(packet, cmd);
MAV_MISSION_RESULT result = AP_Mission::mavlink_int_to_mission_cmd(mission_item_int, cmd);
if (result != MAV_MISSION_ACCEPTED) {
//decode failed
send_mission_ack(msg, MAV_MISSION_TYPE_MISSION, result);
@ -873,7 +872,7 @@ void GCS_MAVLINK::handle_mission_item(const mavlink_message_t &msg)
return;
}
prot->handle_mission_item(msg, packet);
prot->handle_mission_item(msg, mission_item_int);
}
ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) const