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

Plane: Support MAV_CMD_DO_FENCE_ENABLE as a mission item.

Browse Source
This commit is contained in:
Michael Day 2014-10-25 14:20:04 -07:00 committed by Andrew Tridgell
parent b3e693daa4
commit 8662aaa878
1 changed files with 11 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
ArduPlane/commands_logic.pde
View File

@ -136,6 +136,16 @@ start_command(const AP_Mission::Mission_Command& cmd)
auto_state.commanded_go_around = false; auto_state.commanded_go_around = false;
break; break;
case MAV_CMD_DO_FENCE_ENABLE:
#if GEOFENCE_ENABLED == ENABLED
if (!geofence_set_enabled((bool) cmd.p1, AUTO_TOGGLED)) {
gcs_send_text_fmt(PSTR("Unable to set fence enabled state to %u"), cmd.p1);
} else {
gcs_send_text_fmt(PSTR("Set fence enabled state to %u"), cmd.p1);
}
#endif
break;
#if CAMERA == ENABLED #if CAMERA == ENABLED
case MAV_CMD_DO_CONTROL_VIDEO: // Control on-board camera capturing. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| case MAV_CMD_DO_CONTROL_VIDEO: // Control on-board camera capturing. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|
break; break;
@ -249,6 +259,7 @@ static bool verify_command(const AP_Mission::Mission_Command& cmd) // Ret
case MAV_CMD_DO_MOUNT_CONTROL: case MAV_CMD_DO_MOUNT_CONTROL:
case MAV_CMD_DO_INVERTED_FLIGHT: case MAV_CMD_DO_INVERTED_FLIGHT:
case MAV_CMD_DO_LAND_START: case MAV_CMD_DO_LAND_START:
case MAV_CMD_DO_FENCE_ENABLE:
return true; return true;
default: default: