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Copter: Support do-mount-control via command-long

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squilter 2015-08-12 22:32:59 -07:00 committed by Randy Mackay
parent cc58ec917c
commit 8320c06700
1 changed files with 10 additions and 1 deletions
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11
ArduCopter/GCS_Mavlink.cpp
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@ -1263,6 +1263,14 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
result = MAV_RESULT_ACCEPTED;
break;
case MAV_CMD_DO_MOUNT_CONFIGURE:
copter.camera_mount.configure((MAV_MOUNT_MODE)packet.param1, packet.param2, packet.param3, packet.param4);
break;
case MAV_CMD_DO_MOUNT_CONTROL:
copter.camera_mount.control(packet.param1, packet.param2, packet.param3, (MAV_MOUNT_MODE) packet.param7);
break;
case MAV_CMD_MISSION_START:
if (copter.motors.armed() && copter.set_mode(AUTO)) {
copter.set_auto_armed(true);
@ -1721,10 +1729,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
#endif // CAMERA == ENABLED
#if MOUNT == ENABLED
//deprecated. Use MAV_CMD_DO_MOUNT_CONFIGURE
case MAVLINK_MSG_ID_MOUNT_CONFIGURE: // MAV ID: 204
copter.camera_mount.configure_msg(msg);
break;
//deprecated. Use MAV_CMD_DO_MOUNT_CONTROL
case MAVLINK_MSG_ID_MOUNT_CONTROL:
copter.camera_mount.control_msg(msg);
break;