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

Sub: move common mission handling up to GCS_MAVLINK

Browse Source
This commit is contained in:
Peter Barker 2017-07-08 13:23:40 +10:00 committed by Francisco Ferreira
parent 901045b029
commit 48f2fcfebc
2 changed files with 7 additions and 44 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

49
ArduSub/GCS_Mavlink.cpp
View File

@ -932,50 +932,6 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
break;
}
case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST: { // MAV ID: 38
handle_mission_write_partial_list(sub.mission, msg);
break;
}
// GCS has sent us a mission item, store to EEPROM
case MAVLINK_MSG_ID_MISSION_ITEM:
case MAVLINK_MSG_ID_MISSION_ITEM_INT: { // MAV ID: 39
if (handle_mission_item(msg, sub.mission)) {
sub.DataFlash.Log_Write_EntireMission(sub.mission);
}
break;
}
// read an individual command from EEPROM and send it to the GCS
case MAVLINK_MSG_ID_MISSION_REQUEST_INT:
case MAVLINK_MSG_ID_MISSION_REQUEST: { // MAV ID: 40, 51
handle_mission_request(sub.mission, msg);
break;
}
case MAVLINK_MSG_ID_MISSION_SET_CURRENT: { // MAV ID: 41
handle_mission_set_current(sub.mission, msg);
break;
}
// GCS request the full list of commands, we return just the number and leave the GCS to then request each command individually
case MAVLINK_MSG_ID_MISSION_REQUEST_LIST: { // MAV ID: 43
handle_mission_request_list(sub.mission, msg);
break;
}
// GCS provides the full number of commands it wishes to upload
// individual commands will then be sent from the GCS using the MAVLINK_MSG_ID_MISSION_ITEM message
case MAVLINK_MSG_ID_MISSION_COUNT: { // MAV ID: 44
handle_mission_count(sub.mission, msg);
break;
}
case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: { // MAV ID: 45
handle_mission_clear_all(sub.mission, msg);
break;
}
case MAVLINK_MSG_ID_REQUEST_DATA_STREAM: { // MAV ID: 66
handle_request_data_stream(msg, false);
break;
@ -1848,3 +1804,8 @@ void Sub::gcs_check_input(void)
{
gcs().update();
}
AP_Mission *GCS_MAVLINK_Sub::get_mission()
{
return &sub.mission;
}

2
ArduSub/GCS_Mavlink.h
View File

@ -14,6 +14,8 @@ protected:
return 0;
};
AP_Mission *get_mission() override;
private:
void handleMessage(mavlink_message_t * msg) override;