From 27b444f4e8376774887b433ce3e0ae62ceafba5c Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sun, 26 Aug 2018 22:01:06 +1000 Subject: [PATCH] Plane: move handling of gimbal messages up Plane: move handling of mav_cmd_do_mount_control up Plane: move handling of deprecated mount messages up Plane: move handling of command_do_set_roi up Plane: mount no longer takes ahrs in constructor --- ArduPlane/GCS_Mavlink.cpp | 67 --------------------------------------- ArduPlane/Plane.h | 2 +- 2 files changed, 1 insertion(+), 68 deletions(-) diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp index d717a01950..b14b18c700 100644 --- a/ArduPlane/GCS_Mavlink.cpp +++ b/ArduPlane/GCS_Mavlink.cpp @@ -470,13 +470,6 @@ bool GCS_MAVLINK_Plane::try_send_message(enum ap_message id) plane.send_wind(chan); break; - case MSG_MOUNT_STATUS: -#if MOUNT == ENABLED - CHECK_PAYLOAD_SIZE(MOUNT_STATUS); - plane.camera_mount.status_msg(chan); -#endif // MOUNT == ENABLED - break; - case MSG_OPTICAL_FLOW: #if OPTFLOW == ENABLED if (plane.optflow.enabled()) { @@ -486,13 +479,6 @@ bool GCS_MAVLINK_Plane::try_send_message(enum ap_message id) #endif break; - case MSG_GIMBAL_REPORT: -#if MOUNT == ENABLED - CHECK_PAYLOAD_SIZE(GIMBAL_REPORT); - plane.camera_mount.send_gimbal_report(chan); -#endif - break; - case MSG_PID_TUNING: if (plane.control_mode != MANUAL) { CHECK_PAYLOAD_SIZE(PID_TUNING); @@ -926,35 +912,6 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l return MAV_RESULT_FAILED; } -#if MOUNT == ENABLED - // Sets the region of interest (ROI) for the camera - case MAV_CMD_DO_SET_ROI: - // sanity check location - if (!check_latlng(packet.param5, packet.param6)) { - return MAV_RESULT_FAILED; - } - Location roi_loc; - roi_loc.lat = (int32_t)(packet.param5 * 1.0e7f); - roi_loc.lng = (int32_t)(packet.param6 * 1.0e7f); - roi_loc.alt = (int32_t)(packet.param7 * 100.0f); - if (roi_loc.lat == 0 && roi_loc.lng == 0 && roi_loc.alt == 0) { - // switch off the camera tracking if enabled - if (plane.camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) { - plane.camera_mount.set_mode_to_default(); - } - } else { - // send the command to the camera mount - plane.camera_mount.set_roi_target(roi_loc); - } - return MAV_RESULT_ACCEPTED; -#endif - -#if MOUNT == ENABLED - case MAV_CMD_DO_MOUNT_CONTROL: - plane.camera_mount.control(packet.param1, packet.param2, packet.param3, (MAV_MOUNT_MODE) packet.param7); - return MAV_RESULT_ACCEPTED; -#endif - case MAV_CMD_MISSION_START: plane.set_mode(AUTO, MODE_REASON_GCS_COMMAND); return MAV_RESULT_ACCEPTED; @@ -1164,14 +1121,6 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg) } #endif // GEOFENCE_ENABLED - case MAVLINK_MSG_ID_GIMBAL_REPORT: - { -#if MOUNT == ENABLED - handle_gimbal_report(plane.camera_mount, msg); -#endif - break; - } - case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE: { // allow override of RC channel values for HIL @@ -1303,22 +1252,6 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg) break; } -#if MOUNT == ENABLED - //deprecated. Use MAV_CMD_DO_MOUNT_CONFIGURE - case MAVLINK_MSG_ID_MOUNT_CONFIGURE: - { - plane.camera_mount.configure_msg(msg); - break; - } - - //deprecated. Use MAV_CMD_DO_MOUNT_CONTROL - case MAVLINK_MSG_ID_MOUNT_CONTROL: - { - plane.camera_mount.control_msg(msg); - break; - } -#endif // MOUNT == ENABLED - case MAVLINK_MSG_ID_RADIO: case MAVLINK_MSG_ID_RADIO_STATUS: { diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h index 1701ef13ea..886144ccf3 100644 --- a/ArduPlane/Plane.h +++ b/ArduPlane/Plane.h @@ -745,7 +745,7 @@ private: // Camera/Antenna mount tracking and stabilisation stuff #if MOUNT == ENABLED // current_loc uses the baro/gps soloution for altitude rather than gps only. - AP_Mount camera_mount{ahrs, current_loc}; + AP_Mount camera_mount{current_loc}; #endif // Arming/Disarming mangement class