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GCS_MAVLink: use long-to-int conversion code for SET_ROI_SYSID #24361

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merged 2 commits into from Aug 1, 2023
Merged

GCS_MAVLink: use long-to-int conversion code for SET_ROI_SYSID #24361

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e49b5f5
autotest: ensure we test SET_ROI_SYSID as both command-long and comma…
peterbarker Jul 20, 2023
191dde5
GCS_MAVLink: use long-to-int conversion code for SET_ROI_SYSID
peterbarker Jul 20, 2023
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5 changes: 5 additions & 0 deletions Tools/autotest/arducopter.py
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Expand Up @@ -5213,6 +5213,11 @@ def Mount(self):
)
self.test_mount_pitch(-89, 5, mavutil.mavlink.MAV_MOUNT_MODE_SYSID_TARGET, hold=2)

self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SET_ROI_NONE)
self.run_cmd_int(
mavutil.mavlink.MAV_CMD_DO_SET_ROI_SYSID,
p1=self.mav.source_system,
)
self.mav.mav.global_position_int_send(
0, # time boot ms
int(roi_lat * 1e7),
Expand Down
17 changes: 3 additions & 14 deletions libraries/GCS_MAVLink/GCS_Common.cpp
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Expand Up @@ -4742,9 +4742,6 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
}
#endif

case MAV_CMD_DO_SET_ROI_SYSID:
return handle_command_do_set_roi_sysid(packet);

case MAV_CMD_DO_JUMP_TAG:
case MAV_CMD_DO_SET_MISSION_CURRENT:
result = handle_command_do_set_mission_current(packet);
Expand Down Expand Up @@ -5070,31 +5067,23 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_set_roi_none()
mount->set_mode_to_default();
return MAV_RESULT_ACCEPTED;
}
#endif

MAV_RESULT GCS_MAVLINK::handle_command_do_set_roi_sysid(const uint8_t sysid)
{
#if HAL_MOUNT_ENABLED
AP_Mount *mount = AP::mount();
if (mount == nullptr) {
return MAV_RESULT_UNSUPPORTED;
}
mount->set_target_sysid(sysid);

return MAV_RESULT_ACCEPTED;
#else
return MAV_RESULT_UNSUPPORTED;
#endif
}

MAV_RESULT GCS_MAVLINK::handle_command_do_set_roi_sysid(const mavlink_command_int_t &packet)
{
return handle_command_do_set_roi_sysid((uint8_t)packet.param1);
}

MAV_RESULT GCS_MAVLINK::handle_command_do_set_roi_sysid(const mavlink_command_long_t &packet)
{
return handle_command_do_set_roi_sysid((uint8_t)packet.param1);
}
#endif

MAV_RESULT GCS_MAVLINK::handle_command_do_set_roi(const mavlink_command_int_t &packet)
{
Expand Down Expand Up @@ -5143,9 +5132,9 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
case MAV_CMD_DO_SET_ROI:
case MAV_CMD_DO_SET_ROI_LOCATION:
return handle_command_do_set_roi(packet);
#if HAL_MOUNT_ENABLED
case MAV_CMD_DO_SET_ROI_SYSID:
return handle_command_do_set_roi_sysid(packet);
#if HAL_MOUNT_ENABLED
case MAV_CMD_DO_SET_ROI_NONE:
return handle_command_do_set_roi_none();
#endif
Expand Down