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Rover: use GCS_MAVLINK subclasses to handle set_mode

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This commit is contained in:
Peter Barker 2017-08-11 15:52:27 +10:00
parent 2a07a077d9
commit f3a0d2b02b
3 changed files with 11 additions and 18 deletions
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15
APMrover2/GCS_Mavlink.cpp
View File

@ -941,12 +941,6 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
break;
}
case MAVLINK_MSG_ID_SET_MODE:
{
handle_set_mode(msg, FUNCTOR_BIND(&rover, &Rover::mavlink_set_mode, bool, uint8_t));
break;
}
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
{
// mark the firmware version in the tlog
@ -1426,3 +1420,12 @@ AP_Mission *GCS_MAVLINK_Rover::get_mission()
{
return &rover.mission;
}
bool GCS_MAVLINK_Rover::set_mode(const uint8_t mode)
{
Mode *new_mode = rover.control_mode_from_num((enum mode)mode);
if (new_mode == nullptr) {
return false;
}
return rover.set_mode(*new_mode, MODE_REASON_GCS_COMMAND);
}

2
APMrover2/GCS_Mavlink.h
View File

@ -26,6 +26,8 @@ protected:
uint8_t sysid_my_gcs() const override;
bool set_mode(uint8_t mode) override;
private:
void handleMessage(mavlink_message_t * msg) override;

12
APMrover2/system.cpp
View File

@ -244,18 +244,6 @@ bool Rover::set_mode(Mode &new_mode, mode_reason_t reason)
return true;
}
/*
set_mode() wrapper for MAVLink SET_MODE
*/
bool Rover::mavlink_set_mode(uint8_t mode)
{
Mode *new_mode = control_mode_from_num((enum mode)mode);
if (new_mode == nullptr) {
return false;
}
return set_mode(*new_mode, MODE_REASON_GCS_COMMAND);
}
void Rover::startup_INS_ground(void)
{
gcs().send_text(MAV_SEVERITY_INFO, "Warming up ADC");