From ec202b0ad1f3117c77336a016d4e8ff74689182a Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 1 Feb 2024 12:56:52 +1100 Subject: [PATCH 1/3] GCS_MAVLink: provide and use base-method implementation for guided mode request --- libraries/GCS_MAVLink/GCS.h | 2 +- libraries/GCS_MAVLink/GCS_Dummy.h | 1 - 2 files changed, 1 insertion(+), 2 deletions(-) diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h index 0f4b42cb0368c..87a76c3823f3f 100644 --- a/libraries/GCS_MAVLink/GCS.h +++ b/libraries/GCS_MAVLink/GCS.h @@ -1014,7 +1014,7 @@ class GCS_MAVLINK void send_distance_sensor(const class AP_RangeFinder_Backend *sensor, const uint8_t instance) const; - virtual bool handle_guided_request(AP_Mission::Mission_Command &cmd) = 0; + virtual bool handle_guided_request(AP_Mission::Mission_Command &cmd) { return false; }; virtual void handle_change_alt_request(AP_Mission::Mission_Command &cmd) {}; void handle_common_mission_message(const mavlink_message_t &msg); diff --git a/libraries/GCS_MAVLink/GCS_Dummy.h b/libraries/GCS_MAVLink/GCS_Dummy.h index d14d52fb7aa63..e40968ca82231 100644 --- a/libraries/GCS_MAVLink/GCS_Dummy.h +++ b/libraries/GCS_MAVLink/GCS_Dummy.h @@ -25,7 +25,6 @@ class GCS_MAVLINK_Dummy : public GCS_MAVLINK uint32_t telem_delay() const override { return 0; } bool try_send_message(enum ap_message id) override { return true; } - bool handle_guided_request(AP_Mission::Mission_Command &cmd) override { return true; } uint8_t sysid_my_gcs() const override { return 1; } protected: From 2645600328235ab94c1dbf1cb30cccf139dd859f Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 1 Feb 2024 12:56:52 +1100 Subject: [PATCH 2/3] AntennaTracker: provide and use base-method implementation for guided mode request --- AntennaTracker/GCS_Mavlink.cpp | 6 ------ AntennaTracker/GCS_Mavlink.h | 1 - 2 files changed, 7 deletions(-) diff --git a/AntennaTracker/GCS_Mavlink.cpp b/AntennaTracker/GCS_Mavlink.cpp index 102bffb61f27e..270d3a74df838 100644 --- a/AntennaTracker/GCS_Mavlink.cpp +++ b/AntennaTracker/GCS_Mavlink.cpp @@ -161,12 +161,6 @@ void GCS_MAVLINK_Tracker::send_pid_tuning() } } -bool GCS_MAVLINK_Tracker::handle_guided_request(AP_Mission::Mission_Command&) -{ - // do nothing - return false; -} - /* default stream rates to 1Hz */ diff --git a/AntennaTracker/GCS_Mavlink.h b/AntennaTracker/GCS_Mavlink.h index f4a063842b3e0..79610f00311ec 100644 --- a/AntennaTracker/GCS_Mavlink.h +++ b/AntennaTracker/GCS_Mavlink.h @@ -43,7 +43,6 @@ class GCS_MAVLINK_Tracker : public GCS_MAVLINK void handle_message_manual_control(const mavlink_message_t &msg); void handle_message_global_position_int(const mavlink_message_t &msg); void handle_message_scaled_pressure(const mavlink_message_t &msg); - bool handle_guided_request(AP_Mission::Mission_Command &cmd) override; void handle_set_attitude_target(const mavlink_message_t &msg); void send_global_position_int() override; From 095e4605277606b4c44e141af52fa9da24b8c84e Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 1 Feb 2024 12:56:52 +1100 Subject: [PATCH 3/3] Blimp: provide and use base-method implementation for guided mode request --- Blimp/GCS_Mavlink.cpp | 9 --------- Blimp/GCS_Mavlink.h | 1 - 2 files changed, 10 deletions(-) diff --git a/Blimp/GCS_Mavlink.cpp b/Blimp/GCS_Mavlink.cpp index 2c0e92fa26c9d..17193438c1dd6 100644 --- a/Blimp/GCS_Mavlink.cpp +++ b/Blimp/GCS_Mavlink.cpp @@ -407,15 +407,6 @@ const struct GCS_MAVLINK::stream_entries GCS_MAVLINK::all_stream_entries[] = { MAV_STREAM_TERMINATOR // must have this at end of stream_entries }; -bool GCS_MAVLINK_Blimp::handle_guided_request(AP_Mission::Mission_Command &cmd) -{ - // #if MODE_AUTO_ENABLED == ENABLED - // // return blimp.mode_auto.do_guided(cmd); - // #else - return false; - // #endif -} - void GCS_MAVLINK_Blimp::packetReceived(const mavlink_status_t &status, const mavlink_message_t &msg) { diff --git a/Blimp/GCS_Mavlink.h b/Blimp/GCS_Mavlink.h index 87dad1ceb0820..71f10a414e7c3 100644 --- a/Blimp/GCS_Mavlink.h +++ b/Blimp/GCS_Mavlink.h @@ -53,7 +53,6 @@ class GCS_MAVLINK_Blimp : public GCS_MAVLINK private: void handle_message(const mavlink_message_t &msg) override; - bool handle_guided_request(AP_Mission::Mission_Command &cmd) override; bool try_send_message(enum ap_message id) override; void packetReceived(const mavlink_status_t &status,