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ArduCopter: uniformize verify_command

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Add better gcs message,
Add all handle message,
Reformate comments,

Fix do_roi comment
This commit is contained in:
Pierre Kancir 2016-08-22 11:03:45 +02:00 committed by Tom Pittenger
parent 6cb71fef0c
commit 94e42e870e
1 changed files with 31 additions and 6 deletions
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37
ArduCopter/commands_logic.cpp
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@ -176,10 +176,15 @@ bool Copter::verify_command_callback(const AP_Mission::Mission_Command& cmd)
return false;
}
/*******************************************************************************
Verify command Handlers
Each type of mission element has a "verify" operation. The verify
operation returns true when the mission element has completed and we
should move onto the next mission element.
Return true if we do not recognize the command so that we move on to the next command
*******************************************************************************/
// verify_command - this will be called repeatedly by ap_mission lib to ensure the active commands are progressing
// should return true once the active navigation command completes successfully
// called at 10hz or higher
bool Copter::verify_command(const AP_Mission::Mission_Command& cmd)
{
switch(cmd.id) {
@ -231,11 +236,31 @@ bool Copter::verify_command(const AP_Mission::Mission_Command& cmd)
case MAV_CMD_CONDITION_YAW:
return verify_yaw();
case MAV_CMD_DO_PARACHUTE:
// assume parachute was released successfully
// do commands (always return true)
case MAV_CMD_DO_CHANGE_SPEED:
case MAV_CMD_DO_SET_HOME:
case MAV_CMD_DO_SET_SERVO:
case MAV_CMD_DO_SET_RELAY:
case MAV_CMD_DO_REPEAT_SERVO:
case MAV_CMD_DO_REPEAT_RELAY:
case MAV_CMD_DO_SET_ROI:
case MAV_CMD_DO_MOUNT_CONTROL:
case MAV_CMD_DO_CONTROL_VIDEO:
case MAV_CMD_DO_DIGICAM_CONFIGURE:
case MAV_CMD_DO_DIGICAM_CONTROL:
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
case MAV_CMD_DO_PARACHUTE: // assume parachute was released successfully
case MAV_CMD_DO_GRIPPER:
case MAV_CMD_DO_GUIDED_LIMITS:
return true;
default:
// error message
if (AP_Mission::is_nav_cmd(cmd)) {
gcs_send_text(MAV_SEVERITY_WARNING,"Verify nav. Invalid or no current nav cmd");
}else{
gcs_send_text(MAV_SEVERITY_WARNING,"Verify condition. Invalid or no current condition cmd");
}
// return true if we do not recognize the command so that we move on to the next command
return true;
}
@ -883,7 +908,7 @@ void Copter::do_set_home(const AP_Mission::Mission_Command& cmd)
}
}
// do_roi - starts actions required by MAV_CMD_NAV_ROI
// do_roi - starts actions required by MAV_CMD_DO_SET_ROI
// this involves either moving the camera to point at the ROI (region of interest)
// and possibly rotating the copter to point at the ROI if our mount type does not support a yaw feature
// TO-DO: add support for other features of MAV_CMD_DO_SET_ROI including pointing at a given waypoint