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Mount_MAVLink: remove set_roi_target, configure

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These methods are now in the backend
This commit is contained in:
Randy Mackay 2015-01-15 16:47:36 +09:00 committed by Andrew Tridgell
parent 99c35d5cf7
commit a78309734d
2 changed files with 0 additions and 63 deletions
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54
libraries/AP_Mount/AP_Mount_MAVLink.cpp
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@ -94,60 +94,6 @@ void AP_Mount_MAVLink::set_mode(enum MAV_MOUNT_MODE mode)
_last_mode = mode_to_send; _last_mode = mode_to_send;
} }
// set_roi_target - sets target location that mount should attempt to point towards
void AP_Mount_MAVLink::set_roi_target(const struct Location &target_loc)
{
// exit immediately if mount has not been found
if (!_enabled) {
return;
}
// prepare and send command_long message
mavlink_msg_command_long_send(
_chan, mavlink_system.sysid, AP_MOUNT_MAVLINK_COMPID, // channel, system id, component id
MAV_CMD_DO_MOUNT_CONTROL, // command number
0, // confirmation: 0=first confirmation of this command
target_loc.lat, // param1: pitch (in degrees) or lat (as int32_t)
target_loc.lng, // param2: roll (in degrees) or lon (as int32_t)
target_loc.alt, // param3: yaw (in degrees) or alt (in meters). To-Do: clarify if this is absolute alt or relative to home
0.0f,0.0f,0.0f, // param4 ~ param6 : not used
MAV_MOUNT_MODE_GPS_POINT); // param7: MAV_MOUNT_MODE enum value
}
// configure_msg - process MOUNT_CONFIGURE messages received from GCS
void AP_Mount_MAVLink::configure_msg(mavlink_message_t* msg)
{
// exit immediately if mount has not been found
if (!_enabled) {
return;
}
// forward on message with updated channel, sysid, compid
mavlink_msg_mount_configure_send(
_chan, mavlink_system.sysid, AP_MOUNT_MAVLINK_COMPID,
mavlink_msg_mount_configure_get_mount_mode(msg),
mavlink_msg_mount_configure_get_stab_roll(msg),
mavlink_msg_mount_configure_get_stab_pitch(msg),
mavlink_msg_mount_configure_get_stab_yaw(msg));
}
// control_msg - process MOUNT_CONTROL messages received from GCS
void AP_Mount_MAVLink::control_msg(mavlink_message_t* msg)
{
// exit immediately if mount has not been found
if (!_enabled) {
return;
}
// forward on message with updated channel, sysid, compid
mavlink_msg_mount_control_send(
_chan, mavlink_system.sysid, AP_MOUNT_MAVLINK_COMPID,
mavlink_msg_mount_control_get_input_a(msg),
mavlink_msg_mount_control_get_input_b(msg),
mavlink_msg_mount_control_get_input_c(msg),
mavlink_msg_mount_control_get_save_position(msg));
}
// status_msg - called to allow mounts to send their status to GCS using the MOUNT_STATUS message // status_msg - called to allow mounts to send their status to GCS using the MOUNT_STATUS message
void AP_Mount_MAVLink::status_msg(mavlink_channel_t chan) void AP_Mount_MAVLink::status_msg(mavlink_channel_t chan)
{ {

9
libraries/AP_Mount/AP_Mount_MAVLink.h
View File

@ -41,15 +41,6 @@ public:
// set_mode - sets mount's mode // set_mode - sets mount's mode
virtual void set_mode(enum MAV_MOUNT_MODE mode); virtual void set_mode(enum MAV_MOUNT_MODE mode);
// set_roi_target - sets target location that mount should attempt to point towards
virtual void set_roi_target(const struct Location &target_loc);
// configure_msg - process MOUNT_CONFIGURE messages received from GCS
virtual void configure_msg(mavlink_message_t* msg);
// control_msg - process MOUNT_CONTROL messages received from GCS
virtual void control_msg(mavlink_message_t* msg);
// status_msg - called to allow mounts to send their status to GCS using the MOUNT_STATUS message // status_msg - called to allow mounts to send their status to GCS using the MOUNT_STATUS message
virtual void status_msg(mavlink_channel_t chan); virtual void status_msg(mavlink_channel_t chan);