From ee316f04ed847e17c2f7f784cfb2c97dc0a0d778 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 12 Sep 2023 12:46:10 +1000
Subject: [PATCH] Plane: allow DO_VTOL_TRANSITION as both LONG and INT commands

---
 ArduPlane/GCS_Mavlink.cpp | 21 +++++++++++++++------
 ArduPlane/GCS_Mavlink.h   |  1 +
 2 files changed, 16 insertions(+), 6 deletions(-)

diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index 07afcfdeeb..9fed6ba017 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -984,6 +984,11 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_packet(const mavlink_command_in
     case MAV_CMD_DO_CHANGE_SPEED:
         return handle_command_DO_CHANGE_SPEED(packet);
 
+#if HAL_QUADPLANE_ENABLED
+    case MAV_CMD_DO_VTOL_TRANSITION:
+        return handle_command_DO_VTOL_TRANSITION(packet);
+#endif
+
     default:
         return GCS_MAVLINK::handle_command_int_packet(packet, msg);
     }
@@ -1094,12 +1099,6 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
                                                         (uint16_t)packet.param3,
                                                         packet.param4,
                                                         (uint8_t)packet.param5);
-
-    case MAV_CMD_DO_VTOL_TRANSITION:
-        if (!plane.quadplane.handle_do_vtol_transition((enum MAV_VTOL_STATE)packet.param1)) {
-            return MAV_RESULT_FAILED;
-        }
-        return MAV_RESULT_ACCEPTED;
 #endif
 
     default:
@@ -1107,6 +1106,16 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
     }
 }
 
+#if HAL_QUADPLANE_ENABLED
+MAV_RESULT GCS_MAVLINK_Plane::handle_command_DO_VTOL_TRANSITION(const mavlink_command_int_t &packet)
+{
+        if (!plane.quadplane.handle_do_vtol_transition((enum MAV_VTOL_STATE)packet.param1)) {
+            return MAV_RESULT_FAILED;
+        }
+        return MAV_RESULT_ACCEPTED;
+}
+#endif
+
 // this is called on receipt of a MANUAL_CONTROL packet and is
 // expected to call manual_override to override RC input on desired
 // axes.
diff --git a/ArduPlane/GCS_Mavlink.h b/ArduPlane/GCS_Mavlink.h
index ba0d0c8f65..469644c1b6 100644
--- a/ArduPlane/GCS_Mavlink.h
+++ b/ArduPlane/GCS_Mavlink.h
@@ -55,6 +55,7 @@ private:
     MAV_RESULT handle_command_int_do_reposition(const mavlink_command_int_t &packet);
     MAV_RESULT handle_command_int_guided_slew_commands(const mavlink_command_int_t &packet);
     MAV_RESULT handle_command_DO_CHANGE_SPEED(const mavlink_command_int_t &packet);
+    MAV_RESULT handle_command_DO_VTOL_TRANSITION(const mavlink_command_int_t &packet);
 
     bool try_send_message(enum ap_message id) override;
     void packetReceived(const mavlink_status_t &status, const mavlink_message_t &msg) override;