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Tracker: factor handle_message function

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with an eye to removing the ability to set home via mission upload
This commit is contained in:
Peter Barker 2024-01-30 12:32:18 +11:00 committed by Peter Barker
parent eaec73ca70
commit cfe6844196
3 changed files with 54 additions and 30 deletions
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75
AntennaTracker/GCS_Mavlink.cpp
View File

@ -472,9 +472,38 @@ void GCS_MAVLINK_Tracker::handle_message(const mavlink_message_t &msg)
handle_set_attitude_target(msg);
break;
#if AP_TRACKER_SET_HOME_VIA_MISSION_UPLOAD_ENABLED
// When mavproxy 'wp sethome'
case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST:
{
handle_message_mission_write_partial_list(msg);
break;
// XXX receive a WP from GCS and store in EEPROM if it is HOME
case MAVLINK_MSG_ID_MISSION_ITEM:
handle_message_mission_item(msg);
break;
#endif
case MAVLINK_MSG_ID_MANUAL_CONTROL:
handle_message_manual_control(msg);
break;
case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
handle_message_global_position_int(msg);
break;
case MAVLINK_MSG_ID_SCALED_PRESSURE:
handle_message_scaled_pressure(msg);
break;
}
GCS_MAVLINK::handle_message(msg);
}
#if AP_TRACKER_SET_HOME_VIA_MISSION_UPLOAD_ENABLED
void GCS_MAVLINK_Tracker::handle_message_mission_write_partial_list(const mavlink_message_t &msg)
{
// decode
mavlink_mission_write_partial_list_t packet;
mavlink_msg_mission_write_partial_list_decode(&msg, &packet);
@ -484,13 +513,10 @@ void GCS_MAVLINK_Tracker::handle_message(const mavlink_message_t &msg)
waypoint_receiving = true;
send_message(MSG_NEXT_MISSION_REQUEST_WAYPOINTS);
}
break;
}
}
// XXX receive a WP from GCS and store in EEPROM if it is HOME
case MAVLINK_MSG_ID_MISSION_ITEM:
{
// decode
void GCS_MAVLINK_Tracker::handle_message_mission_item(const mavlink_message_t &msg)
{
mavlink_mission_item_t packet;
MAV_MISSION_RESULT result = MAV_MISSION_ACCEPTED;
@ -573,48 +599,37 @@ void GCS_MAVLINK_Tracker::handle_message(const mavlink_message_t &msg)
}
mission_failed:
// we are rejecting the mission/waypoint
// send ACK (including in success case)
mavlink_msg_mission_ack_send(
chan,
msg.sysid,
msg.compid,
result,
MAV_MISSION_TYPE_MISSION);
break;
}
}
#endif
case MAVLINK_MSG_ID_MANUAL_CONTROL:
{
void GCS_MAVLINK_Tracker::handle_message_manual_control(const mavlink_message_t &msg)
{
mavlink_manual_control_t packet;
mavlink_msg_manual_control_decode(&msg, &packet);
tracker.tracking_manual_control(packet);
break;
}
}
case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
{
void GCS_MAVLINK_Tracker::handle_message_global_position_int(const mavlink_message_t &msg)
{
// decode
mavlink_global_position_int_t packet;
mavlink_msg_global_position_int_decode(&msg, &packet);
tracker.tracking_update_position(packet);
break;
}
}
case MAVLINK_MSG_ID_SCALED_PRESSURE:
{
// decode
void GCS_MAVLINK_Tracker::handle_message_scaled_pressure(const mavlink_message_t &msg)
{
mavlink_scaled_pressure_t packet;
mavlink_msg_scaled_pressure_decode(&msg, &packet);
tracker.tracking_update_pressure(packet);
break;
}
default:
GCS_MAVLINK::handle_message(msg);
break;
} // end switch
} // end handle mavlink
}
// send position tracker is using
void GCS_MAVLINK_Tracker::send_global_position_int()

5
AntennaTracker/GCS_Mavlink.h
View File

@ -38,6 +38,11 @@ private:
void packetReceived(const mavlink_status_t &status, const mavlink_message_t &msg) override;
void mavlink_check_target(const mavlink_message_t &msg);
void handle_message(const mavlink_message_t &msg) override;
void handle_message_mission_write_partial_list(const mavlink_message_t &msg);
void handle_message_mission_item(const mavlink_message_t &msg);
void handle_message_manual_control(const mavlink_message_t &msg);
void handle_message_global_position_int(const mavlink_message_t &msg);
void handle_message_scaled_pressure(const mavlink_message_t &msg);
bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
void handle_set_attitude_target(const mavlink_message_t &msg);

4
AntennaTracker/config.h
View File

@ -69,3 +69,7 @@
MASK_LOG_COMPASS | \
MASK_LOG_CURRENT
#endif
#ifndef AP_TRACKER_SET_HOME_VIA_MISSION_UPLOAD_ENABLED
#define AP_TRACKER_SET_HOME_VIA_MISSION_UPLOAD_ENABLED 1
#endif