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Provide base-class implementation of guided_mode_request function #26112

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merged 3 commits into from Feb 6, 2024
Merged

Provide base-class implementation of guided_mode_request function #26112

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ec202b0
GCS_MAVLink: provide and use base-method implementation for guided mo…
peterbarker Feb 1, 2024
2645600
AntennaTracker: provide and use base-method implementation for guided…
peterbarker Feb 1, 2024
095e460
Blimp: provide and use base-method implementation for guided mode req…
peterbarker Feb 1, 2024
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6 changes: 0 additions & 6 deletions AntennaTracker/GCS_Mavlink.cpp
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Expand Up @@ -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
*/
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1 change: 0 additions & 1 deletion AntennaTracker/GCS_Mavlink.h
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Expand Up @@ -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;
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9 changes: 0 additions & 9 deletions Blimp/GCS_Mavlink.cpp
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Expand Up @@ -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)
{
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1 change: 0 additions & 1 deletion Blimp/GCS_Mavlink.h
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Expand Up @@ -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,
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2 changes: 1 addition & 1 deletion libraries/GCS_MAVLink/GCS.h
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Expand Up @@ -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);

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1 change: 0 additions & 1 deletion libraries/GCS_MAVLink/GCS_Dummy.h
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Expand Up @@ -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:
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