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GCS_MAVLink: convert to COMMAND_INT to handle MAV_CMD_DO_SET_HOME #24316

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merged 1 commit into from Jul 17, 2023
Merged

GCS_MAVLink: convert to COMMAND_INT to handle MAV_CMD_DO_SET_HOME #24316

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3 changes: 1 addition & 2 deletions libraries/GCS_MAVLink/GCS.h
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Expand Up @@ -518,15 +518,14 @@ class GCS_MAVLINK
void handle_set_mode(const mavlink_message_t &msg);
void handle_command_int(const mavlink_message_t &msg);

MAV_RESULT handle_command_int_do_set_home(const mavlink_command_int_t &packet);
MAV_RESULT handle_command_do_set_home(const mavlink_command_int_t &packet);
virtual MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet);
MAV_RESULT handle_command_int_external_position_estimate(const mavlink_command_int_t &packet);

virtual bool set_home_to_current_location(bool lock) = 0;
virtual bool set_home(const Location& loc, bool lock) = 0;

virtual MAV_RESULT handle_command_component_arm_disarm(const mavlink_command_int_t &packet);
MAV_RESULT handle_command_do_set_home(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_do_aux_function(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_storage_format(const mavlink_command_int_t &packet, const mavlink_message_t &msg);
void handle_mission_request_list(const mavlink_message_t &msg);
Expand Down
35 changes: 3 additions & 32 deletions libraries/GCS_MAVLink/GCS_Common.cpp
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Expand Up @@ -4601,32 +4601,6 @@ MAV_RESULT GCS_MAVLINK::handle_command_mount(const mavlink_command_long_t &packe
#endif
}

MAV_RESULT GCS_MAVLINK::handle_command_do_set_home(const mavlink_command_long_t &packet)
{
if (is_equal(packet.param1, 1.0f) || (is_zero(packet.param5) && is_zero(packet.param6))) {
// param1 is 1 (or both lat and lon are zero); use current location
if (!set_home_to_current_location(true)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
}

// ensure param1 is zero
if (!is_zero(packet.param1)) {
return MAV_RESULT_FAILED;
}

Location new_home_loc;
if (!location_from_command_t(packet, MAV_FRAME_GLOBAL, new_home_loc)) {
return MAV_RESULT_DENIED;
}

if (!set_home(new_home_loc, true)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
}

MAV_RESULT GCS_MAVLINK::handle_command_component_arm_disarm(const mavlink_command_int_t &packet)
{
if (is_equal(packet.param1,1.0f)) {
Expand Down Expand Up @@ -4667,6 +4641,7 @@ MAV_RESULT GCS_MAVLINK::try_command_long_as_command_int(const mavlink_command_lo
{ MAV_CMD_FIXED_MAG_CAL_YAW, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ MAV_CMD_DO_SET_ROI, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ MAV_CMD_DO_SET_ROI_LOCATION, MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ MAV_CMD_DO_SET_HOME, MAV_FRAME_GLOBAL },
};

// map from command to frame:
Expand Down Expand Up @@ -4711,10 +4686,6 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
result = handle_command_do_send_banner(packet);
break;

case MAV_CMD_DO_SET_HOME:
result = handle_command_do_set_home(packet);
break;

case MAV_CMD_DO_FENCE_ENABLE:
result = handle_command_do_fence_enable(packet);
break;
Expand Down Expand Up @@ -5039,7 +5010,7 @@ void GCS_MAVLINK::handle_landing_target(const mavlink_message_t &msg)
}


MAV_RESULT GCS_MAVLINK::handle_command_int_do_set_home(const mavlink_command_int_t &packet)
MAV_RESULT GCS_MAVLINK::handle_command_do_set_home(const mavlink_command_int_t &packet)
{
if (is_equal(packet.param1, 1.0f) || (packet.x == 0 && packet.y == 0)) {
// param1 is 1 (or both lat and lon are zero); use current location
Expand Down Expand Up @@ -5182,7 +5153,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
case MAV_CMD_DO_SET_ROI_NONE:
return handle_command_do_set_roi_none();
case MAV_CMD_DO_SET_HOME:
return handle_command_int_do_set_home(packet);
return handle_command_do_set_home(packet);
#if AP_AHRS_POSITION_RESET_ENABLED
case MAV_CMD_EXTERNAL_POSITION_ESTIMATE:
return handle_command_int_external_position_estimate(packet);
Expand Down