Copter: move rally-point handling up

ArduCopter/GCS_Mavlink.cpp

@@ -1848,68 +1848,6 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
 #endif
         break;
 
-#if AC_RALLY == ENABLED
-    // receive a rally point from GCS and store in EEPROM
-    case MAVLINK_MSG_ID_RALLY_POINT: {
-        mavlink_rally_point_t packet;
-        mavlink_msg_rally_point_decode(msg, &packet);
-
-        if (packet.idx >= copter.rally.get_rally_total() ||
-            packet.idx >= copter.rally.get_rally_max()) {
-            send_text(MAV_SEVERITY_NOTICE,"Bad rally point message ID");
-            break;
-        }
-
-        if (packet.count != copter.rally.get_rally_total()) {
-            send_text(MAV_SEVERITY_NOTICE,"Bad rally point message count");
-            break;
-        }
-
-        // sanity check location
-        if (!check_latlng(packet.lat, packet.lng)) {
-            break;
-        }
-
-        RallyLocation rally_point;
-        rally_point.lat = packet.lat;
-        rally_point.lng = packet.lng;
-        rally_point.alt = packet.alt;
-        rally_point.break_alt = packet.break_alt;
-        rally_point.land_dir = packet.land_dir;
-        rally_point.flags = packet.flags;
-
-        if (!copter.rally.set_rally_point_with_index(packet.idx, rally_point)) {
-            send_text(MAV_SEVERITY_CRITICAL, "Error setting rally point");
-        }
-
-        break;
-    }
-
-    //send a rally point to the GCS
-    case MAVLINK_MSG_ID_RALLY_FETCH_POINT: {
-        mavlink_rally_fetch_point_t packet;
-        mavlink_msg_rally_fetch_point_decode(msg, &packet);
-
-        if (packet.idx > copter.rally.get_rally_total()) {
-            send_text(MAV_SEVERITY_NOTICE, "Bad rally point index");
-            break;
-        }
-
-        RallyLocation rally_point;
-        if (!copter.rally.get_rally_point_with_index(packet.idx, rally_point)) {
-           send_text(MAV_SEVERITY_NOTICE, "Failed to set rally point");
-           break;
-        }
-
-        mavlink_msg_rally_point_send_buf(msg,
-                                         chan, msg->sysid, msg->compid, packet.idx,
-                                         copter.rally.get_rally_total(), rally_point.lat, rally_point.lng,
-                                         rally_point.alt, rally_point.break_alt, rally_point.land_dir,
-                                         rally_point.flags);
-        break;
-    }
-#endif // AC_RALLY == ENABLED
-
     case MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST:
         send_autopilot_version(FIRMWARE_VERSION);
         break;
@@ -2037,3 +1975,12 @@ AP_Mission *GCS_MAVLINK_Copter::get_mission()
 {
     return &copter.mission;
 }
+
+AP_Rally *GCS_MAVLINK_Copter::get_rally() const
+{
+#if AC_RALLY == ENABLED
+    return &copter.rally;
+#else
+    return nullptr;
+#endif
+}

ArduCopter/GCS_Mavlink.h

@@ -19,6 +19,7 @@ protected:
     bool accept_packet(const mavlink_status_t &status, mavlink_message_t &msg) override;
 
     AP_Mission *get_mission() override;
+    AP_Rally *get_rally() const override;
 
     uint8_t sysid_my_gcs() const override;