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GCS_MAVLink: handle MAV_CMD_DO_SPRAYER as both long and int #25454

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merged 2 commits into from
Nov 6, 2023
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GCS_MAVLink: handle MAV_CMD_DO_SPRAYER as both long and int #25454

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84149e4
GCS_MAVLink: handle MAV_CMD_DO_SPRAYER as both long and int
peterbarker Nov 3, 2023
f8ee757
Tools: handle MAV_CMD_DO_SPRAYER as both long and int
peterbarker Nov 3, 2023
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2 changes: 1 addition & 1 deletion Tools/autotest/arducopter.py
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Original file line number Diff line number Diff line change
Expand Up @@ -9851,7 +9851,7 @@ def Sprayer(self):

self.start_subtest("Checking mavlink commands")
self.progress("Starting Sprayer")
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SPRAYER, p1=1)
self.run_cmd_int(mavutil.mavlink.MAV_CMD_DO_SPRAYER, p1=1)

self.progress("Testing speed-ramping")
self.wait_servo_channel_value(
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2 changes: 1 addition & 1 deletion libraries/GCS_MAVLink/GCS.h
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Expand Up @@ -658,7 +658,7 @@ class GCS_MAVLINK
MAV_RESULT handle_command_do_set_roi(const mavlink_command_int_t &packet);
virtual MAV_RESULT handle_command_do_set_roi(const Location &roi_loc);
MAV_RESULT handle_command_do_gripper(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_do_sprayer(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_do_sprayer(const mavlink_command_int_t &packet);
MAV_RESULT handle_command_do_set_mode(const mavlink_command_int_t &packet);
MAV_RESULT handle_command_get_home_position(const mavlink_command_int_t &packet);
MAV_RESULT handle_command_do_fence_enable(const mavlink_command_int_t &packet);
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12 changes: 6 additions & 6 deletions libraries/GCS_MAVLink/GCS_Common.cpp
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Expand Up @@ -4584,7 +4584,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_gripper(const mavlink_command_long_t &
#endif // AP_GRIPPER_ENABLED

#if HAL_SPRAYER_ENABLED
MAV_RESULT GCS_MAVLINK::handle_command_do_sprayer(const mavlink_command_long_t &packet)
MAV_RESULT GCS_MAVLINK::handle_command_do_sprayer(const mavlink_command_int_t &packet)
{
AC_Sprayer *sprayer = AP::sprayer();
if (sprayer == nullptr) {
Expand Down Expand Up @@ -4731,11 +4731,6 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
result = handle_command_do_gripper(packet);
break;
#endif
#if HAL_SPRAYER_ENABLED
case MAV_CMD_DO_SPRAYER:
result = handle_command_do_sprayer(packet);
break;
#endif

#if AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED
case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES: {
Expand Down Expand Up @@ -5059,6 +5054,11 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
case MAV_CMD_DO_SET_MODE:
return handle_command_do_set_mode(packet);

#if HAL_SPRAYER_ENABLED
case MAV_CMD_DO_SPRAYER:
return handle_command_do_sprayer(packet);
#endif

#if AP_CAMERA_ENABLED
case MAV_CMD_DO_DIGICAM_CONFIGURE:
case MAV_CMD_DO_DIGICAM_CONTROL:
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