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Copter: use handle_set_mode()

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This commit is contained in:
Andrew Tridgell 2014-10-01 14:19:31 +10:00
parent c4b17b74e2
commit f2e6fa3fb0
1 changed files with 1 additions and 32 deletions
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33
ArduCopter/GCS_Mavlink.pde
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@ -887,38 +887,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_SET_MODE: // MAV ID: 11
{
// decode
mavlink_set_mode_t packet;
mavlink_msg_set_mode_decode(msg, &packet);
// exit immediately if this command is not meant for this vehicle
if (mavlink_check_target(packet.target_system, 0)) {
break;
}
// only accept custom modes because there is no easy mapping from Mavlink flight modes to AC flight modes
if (packet.base_mode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED) {
if (set_mode(packet.custom_mode)) {
result = MAV_RESULT_ACCEPTED;
}
}
// set the safety switch position
if (packet.base_mode & MAV_MODE_FLAG_DECODE_POSITION_SAFETY) {
if (packet.custom_mode == 0) {
// turn safety off (pwm outputs flow to the motors)
hal.rcout->force_safety_off();
result = MAV_RESULT_ACCEPTED;
} else if (packet.custom_mode == 1) {
// turn safety on (no pwm outputs to the motors)
if (hal.rcout->force_safety_on()) {
result = MAV_RESULT_ACCEPTED;
}
}
}
// send ACK or NAK
mavlink_msg_command_ack_send_buf(msg, chan, MAVLINK_MSG_ID_SET_MODE, result);
handle_set_mode(msg, set_mode);
break;
}