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ArduCopter: add and use AP_MAVLINK_COMMAND_LONG_ENABLED

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Peter Barker 2023-11-08 21:31:03 +11:00 committed by Peter Barker
parent 24f00ddaf7
commit e7ff4a43ca
2 changed files with 4 additions and 0 deletions
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2
ArduCopter/GCS_Mavlink.cpp
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@ -877,6 +877,7 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_MAV_CMD_NAV_TAKEOFF(const mavlink_command_
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;
} }
#if AP_MAVLINK_COMMAND_LONG_ENABLED
bool GCS_MAVLINK_Copter::mav_frame_for_command_long(MAV_FRAME &frame, MAV_CMD packet_command) const bool GCS_MAVLINK_Copter::mav_frame_for_command_long(MAV_FRAME &frame, MAV_CMD packet_command) const
{ {
if (packet_command == MAV_CMD_NAV_TAKEOFF || if (packet_command == MAV_CMD_NAV_TAKEOFF ||
@ -886,6 +887,7 @@ bool GCS_MAVLINK_Copter::mav_frame_for_command_long(MAV_FRAME &frame, MAV_CMD pa
} }
return GCS_MAVLINK::mav_frame_for_command_long(frame, packet_command); return GCS_MAVLINK::mav_frame_for_command_long(frame, packet_command);
} }
#endif
MAV_RESULT GCS_MAVLINK_Copter::handle_MAV_CMD_CONDITION_YAW(const mavlink_command_int_t &packet) MAV_RESULT GCS_MAVLINK_Copter::handle_MAV_CMD_CONDITION_YAW(const mavlink_command_int_t &packet)

2
ArduCopter/GCS_Mavlink.h
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@ -108,7 +108,9 @@ private:
MAV_RESULT handle_MAV_CMD_SOLO_BTN_PAUSE_CLICK(const mavlink_command_int_t &packet); MAV_RESULT handle_MAV_CMD_SOLO_BTN_PAUSE_CLICK(const mavlink_command_int_t &packet);
#endif #endif
#if AP_MAVLINK_COMMAND_LONG_ENABLED
bool mav_frame_for_command_long(MAV_FRAME &frame, MAV_CMD packet_command) const override; bool mav_frame_for_command_long(MAV_FRAME &frame, MAV_CMD packet_command) const override;
#endif
MAV_RESULT handle_MAV_CMD_MISSION_START(const mavlink_command_int_t &packet); MAV_RESULT handle_MAV_CMD_MISSION_START(const mavlink_command_int_t &packet);
MAV_RESULT handle_MAV_CMD_NAV_TAKEOFF(const mavlink_command_int_t &packet); MAV_RESULT handle_MAV_CMD_NAV_TAKEOFF(const mavlink_command_int_t &packet);