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AP_Mission: Added mavlink_cmd_long_to_mission_cmd method.

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This commit is contained in:
Michael Day 2016-05-06 13:26:54 -04:00 committed by Tom Pittenger
parent a14bdf949a
commit 62a7074dd7
2 changed files with 22 additions and 0 deletions
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18
libraries/AP_Mission/AP_Mission.cpp
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@ -877,6 +877,24 @@ bool AP_Mission::mission_cmd_to_mavlink(const AP_Mission::Mission_Command& cmd,
return ans;
}
// mavlink_cmd_long_to_mission_cmd - converts a mavlink cmd long to an AP_Mission::Mission_Command object which can be stored to eeprom
// return MAV_MISSION_ACCEPTED on success, MAV_MISSION_RESULT error on failure
MAV_MISSION_RESULT AP_Mission::mavlink_cmd_long_to_mission_cmd(const mavlink_command_long_t& packet, AP_Mission::Mission_Command& cmd)
{
mavlink_mission_item_t miss_item = {0};
miss_item.param1 = packet.param1;
miss_item.param2 = packet.param2;
miss_item.param3 = packet.param3;
miss_item.param4 = packet.param4;
miss_item.command = packet.command;
miss_item.target_system = packet.target_system;
miss_item.target_component = packet.target_component;
return mavlink_to_mission_cmd(miss_item, cmd);
}
// mission_cmd_to_mavlink - converts an AP_Mission::Mission_Command object to a mavlink message which can be sent to the GCS
// return true on success, false on failure
bool AP_Mission::mission_cmd_to_mavlink_int(const AP_Mission::Mission_Command& cmd, mavlink_mission_item_int_t& packet)

4
libraries/AP_Mission/AP_Mission.h
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@ -377,6 +377,10 @@ public:
static MAV_MISSION_RESULT mavlink_to_mission_cmd(const mavlink_mission_item_t& packet, AP_Mission::Mission_Command& cmd);
static MAV_MISSION_RESULT mavlink_int_to_mission_cmd(const mavlink_mission_item_int_t& packet, AP_Mission::Mission_Command& cmd);
// mavlink_cmd_long_to_mission_cmd - converts a mavlink cmd long to an AP_Mission::Mission_Command object which can be stored to eeprom
// return MAV_MISSION_ACCEPTED on success, MAV_MISSION_RESULT error on failure
static MAV_MISSION_RESULT mavlink_cmd_long_to_mission_cmd(const mavlink_command_long_t& packet, AP_Mission::Mission_Command& cmd);
// mission_cmd_to_mavlink - converts an AP_Mission::Mission_Command object to a mavlink message which can be sent to the GCS
// return true on success, false on failure
static bool mission_cmd_to_mavlink(const AP_Mission::Mission_Command& cmd, mavlink_mission_item_t& packet);