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33 lines
853 B
33 lines
853 B
6 years ago
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#include "AP_Mission.h"
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#include <GCS_MAVLink/GCS.h>
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#include <AP_Gripper/AP_Gripper.h>
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bool AP_Mission::start_command_do_gripper(const AP_Mission::Mission_Command& cmd)
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{
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AP_Gripper *gripper = AP::gripper();
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if (gripper == nullptr) {
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return true;
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}
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// Note: we ignore the gripper num parameter because we only
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// support one gripper
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switch (cmd.content.gripper.action) {
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case GRIPPER_ACTION_RELEASE:
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gripper->release();
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// Log_Write_Event(DATA_GRIPPER_RELEASE);
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gcs().send_text(MAV_SEVERITY_INFO, "Gripper Released");
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break;
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case GRIPPER_ACTION_GRAB:
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gripper->grab();
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// Log_Write_Event(DATA_GRIPPER_GRAB);
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gcs().send_text(MAV_SEVERITY_INFO, "Gripper Grabbed");
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break;
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default:
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// do nothing
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break;
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}
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return true;
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}
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