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GCS_MAVLink: send OPTICAL_FLOW messages to optical flow driver

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This commit is contained in:
Randy Mackay 2019-03-27 16:19:13 +09:00
parent 97b5c2b031
commit bbd051b246
2 changed files with 18 additions and 0 deletions
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2
libraries/GCS_MAVLink/GCS.h
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@ -427,6 +427,8 @@ protected:
MAV_RESULT handle_command_get_home_position(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_do_fence_enable(const mavlink_command_long_t &packet);
void handle_optical_flow(const mavlink_message_t* msg);
// vehicle-overridable message send function
virtual bool try_send_message(enum ap_message id);
virtual void send_global_position_int();

16
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -30,6 +30,7 @@
#include <AP_Mount/AP_Mount.h>
#include <AP_Common/AP_FWVersion.h>
#include <AP_VisualOdom/AP_VisualOdom.h>
#include <AP_OpticalFlow/OpticalFlow.h>
#include "GCS.h"
@ -3014,6 +3015,17 @@ void GCS_MAVLINK::handle_rc_channels_override(const mavlink_message_t *msg)
RC_Channels::set_override(15, packet.chan16_raw, tnow);
}
// allow override of RC channel values for HIL or for complete GCS
// control of switch position and RC PWM values.
void GCS_MAVLINK::handle_optical_flow(const mavlink_message_t *msg)
{
OpticalFlow *optflow = AP::opticalflow();
if (optflow == nullptr) {
return;
}
optflow->handle_msg(msg);
}
/*
handle messages which don't require vehicle specific data
*/
@ -3179,6 +3191,10 @@ void GCS_MAVLINK::handle_common_message(mavlink_message_t *msg)
case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE:
handle_rc_channels_override(msg);
break;
case MAVLINK_MSG_ID_OPTICAL_FLOW:
handle_optical_flow(msg);
break;
}
}