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

GCS_MAVLink: handle command_int in base class

Browse Source
This commit is contained in:
Peter Barker 2018-07-04 11:43:27 +10:00 committed by Peter Barker
parent 37145253d9
commit 4ad065de99
2 changed files with 24 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
libraries/GCS_MAVLink/GCS.h
View File

@ -284,6 +284,9 @@ protected:
virtual void handle_command_ack(const mavlink_message_t* msg);
void handle_set_mode(mavlink_message_t* msg);
void handle_command_int(mavlink_message_t* msg);
virtual MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet);
void handle_mission_request_list(AP_Mission &mission, mavlink_message_t *msg);
void handle_mission_request(AP_Mission &mission, mavlink_message_t *msg);
void handle_mission_clear_all(AP_Mission &mission, mavlink_message_t *msg);

21
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -2318,6 +2318,10 @@ void GCS_MAVLINK::handle_common_message(mavlink_message_t *msg)
handle_common_mission_message(msg);
break;
case MAVLINK_MSG_ID_COMMAND_INT:
handle_command_int(msg);
break;
case MAVLINK_MSG_ID_SERIAL_CONTROL:
handle_serial_control(msg);
break;
@ -2769,6 +2773,23 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_message(mavlink_command_long_t &pack
return result;
}
MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &packet)
{
return MAV_RESULT_UNSUPPORTED;
}
void GCS_MAVLINK::handle_command_int(mavlink_message_t *msg)
{
// decode packet
mavlink_command_int_t packet;
mavlink_msg_command_int_decode(msg, &packet);
const MAV_RESULT result = handle_command_int_packet(packet);
// send ACK or NAK
mavlink_msg_command_ack_send_buf(msg, chan, packet.command, result);
}
bool GCS_MAVLINK::try_send_compass_message(const enum ap_message id)
{
Compass *compass = get_compass();