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Copter: make superclass handle command_ack packets

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This commit is contained in:
Peter Barker 2018-03-21 11:19:42 +11:00 committed by Randy Mackay
parent ac1a00739c
commit ce0f0938ee
2 changed files with 7 additions and 6 deletions
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12
ArduCopter/GCS_Mavlink.cpp
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@ -708,6 +708,12 @@ void GCS_MAVLINK_Copter::send_banner()
}
void GCS_MAVLINK_Copter::handle_command_ack(const mavlink_message_t* msg)
{
copter.command_ack_counter++;
GCS_MAVLINK::handle_command_ack(msg);
}
void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
{
MAV_RESULT result = MAV_RESULT_FAILED; // assume failure. Each messages id is responsible for return ACK or NAK if required
@ -1337,12 +1343,6 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
break;
}
case MAVLINK_MSG_ID_COMMAND_ACK: // MAV ID: 77
{
copter.command_ack_counter++;
break;
}
#if MODE_GUIDED_ENABLED == ENABLED
case MAVLINK_MSG_ID_SET_ATTITUDE_TARGET: // MAV ID: 82
{

1
ArduCopter/GCS_Mavlink.h
View File

@ -39,6 +39,7 @@ protected:
private:
void handleMessage(mavlink_message_t * msg) override;
void handle_command_ack(const mavlink_message_t* msg) override;
bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override;
bool try_send_message(enum ap_message id) override;