Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

AP_Mount/GCS_MAVLink: move handling of all do-set-roi to AP_Mount library #24654

Merged
merged 2 commits into from Aug 26, 2023
Merged

AP_Mount/GCS_MAVLink: move handling of all do-set-roi to AP_Mount library #24654

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
65c622d
AP_Mount: move handling of all do-set-roi to AP_Mount library
khanasif786 Aug 25, 2023
649f461
GCS_MAVLink: move handling of all do-set-roi to AP_Mount library
khanasif786 Aug 25, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Jump to
Jump to file
Failed to load files.
Diff view
Diff view
16 changes: 16 additions & 0 deletions libraries/AP_Mount/AP_Mount.cpp
View file
Open in desktop
Expand Up @@ -499,6 +499,18 @@ void AP_Mount::handle_command_gimbal_manager_set_pitchyaw(const mavlink_message_
}
}

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

MAV_RESULT AP_Mount::handle_command_do_set_roi_none()
{
set_mode_to_default();
return MAV_RESULT_ACCEPTED;
}

MAV_RESULT AP_Mount::handle_command(const mavlink_command_int_t &packet, const mavlink_message_t &msg)
{
switch (packet.command) {
Expand All @@ -510,6 +522,10 @@ MAV_RESULT AP_Mount::handle_command(const mavlink_command_int_t &packet, const m
return handle_command_do_gimbal_manager_pitchyaw(packet);
case MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE:
return handle_command_do_gimbal_manager_configure(packet, msg);
case MAV_CMD_DO_SET_ROI_SYSID:
return handle_command_do_set_roi_sysid(packet);
case MAV_CMD_DO_SET_ROI_NONE:
return handle_command_do_set_roi_none();
default:
return MAV_RESULT_UNSUPPORTED;
}
Expand Down
6 changes: 6 additions & 0 deletions libraries/AP_Mount/AP_Mount.h
View file
Open in desktop
Expand Up @@ -177,6 +177,12 @@ class AP_Mount
void set_target_sysid(uint8_t sysid) { set_target_sysid(_primary, sysid); }
void set_target_sysid(uint8_t instance, uint8_t sysid);

// handling of set_roi_sysid message
MAV_RESULT handle_command_do_set_roi_sysid(const mavlink_command_int_t &packet);

// handling of set_roi_none message
MAV_RESULT handle_command_do_set_roi_none();

// mavlink message handling:
MAV_RESULT handle_command(const mavlink_command_int_t &packet, const mavlink_message_t &msg);
void handle_param_value(const mavlink_message_t &msg);
Expand Down
4 changes: 0 additions & 4 deletions libraries/GCS_MAVLink/GCS.h
View file
Open in desktop
Expand Up @@ -639,10 +639,6 @@ class GCS_MAVLINK
MAV_RESULT handle_command_battery_reset(const mavlink_command_long_t &packet);
void handle_command_long(const mavlink_message_t &msg);
MAV_RESULT handle_command_accelcal_vehicle_pos(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_do_set_roi_sysid(const uint8_t sysid);
MAV_RESULT handle_command_do_set_roi_sysid(const mavlink_command_int_t &packet);
MAV_RESULT handle_command_do_set_roi_sysid(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_do_set_roi_none();

#if HAL_MOUNT_ENABLED
virtual MAV_RESULT handle_command_mount(const mavlink_command_int_t &packet, const mavlink_message_t &msg);
Expand Down
30 changes: 0 additions & 30 deletions libraries/GCS_MAVLink/GCS_Common.cpp
View file
Open in desktop
Expand Up @@ -5070,34 +5070,6 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_external_position_estimate(const mavl
}
#endif // AP_AHRS_POSITION_RESET_ENABLED

#if HAL_MOUNT_ENABLED
MAV_RESULT GCS_MAVLINK::handle_command_do_set_roi_none()
{
AP_Mount *mount = AP::mount();
if (mount == nullptr) {
return MAV_RESULT_UNSUPPORTED;
}
mount->set_mode_to_default();
return MAV_RESULT_ACCEPTED;
}

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

return MAV_RESULT_ACCEPTED;
}

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);
}
#endif

MAV_RESULT GCS_MAVLINK::handle_command_do_set_roi(const mavlink_command_int_t &packet)
{
// be aware that this method is called for both MAV_CMD_DO_SET_ROI
Expand Down Expand Up @@ -5147,9 +5119,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
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);
case MAV_CMD_DO_SET_ROI_NONE:
return handle_command_do_set_roi_none();
case MAV_CMD_DO_MOUNT_CONFIGURE:
case MAV_CMD_DO_MOUNT_CONTROL:
case MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW:
Expand Down