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Copter: move mavlink set-position defines into mavlink library

zr-v5.1
Peter Barker 5 years ago committed by Randy Mackay
parent
65834234af
commit
76e5ae9b41
2 changed files with 21 additions and 8 deletions
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  1. 21
      ArduCopter/GCS_Mavlink.cpp
  2. 8
      ArduCopter/defines.h

21
ArduCopter/GCS_Mavlink.cpp
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@ -945,6 +945,27 @@ void GCS_MAVLINK_Copter::handle_mount_message(const mavlink_message_t &msg) @@ -945,6 +945,27 @@ void GCS_MAVLINK_Copter::handle_mount_message(const mavlink_message_t &msg)
void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
{
// for mavlink SET_POSITION_TARGET messages
constexpr uint32_t MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE =
POSITION_TARGET_TYPEMASK_X_IGNORE |
POSITION_TARGET_TYPEMASK_Y_IGNORE |
POSITION_TARGET_TYPEMASK_Z_IGNORE;
constexpr uint32_t MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE =
POSITION_TARGET_TYPEMASK_VX_IGNORE |
POSITION_TARGET_TYPEMASK_VY_IGNORE |
POSITION_TARGET_TYPEMASK_VZ_IGNORE;
constexpr uint32_t MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE =
POSITION_TARGET_TYPEMASK_AX_IGNORE |
POSITION_TARGET_TYPEMASK_AY_IGNORE |
POSITION_TARGET_TYPEMASK_AZ_IGNORE;
constexpr uint32_t MAVLINK_SET_POS_TYPE_MASK_YAW_IGNORE =
POSITION_TARGET_TYPEMASK_YAW_IGNORE;
constexpr uint32_t MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE =
POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE;
switch (msg.msgid) {
case MAVLINK_MSG_ID_HEARTBEAT: // MAV ID: 0

8
ArduCopter/defines.h
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@ -203,14 +203,6 @@ enum LoggingParameters { @@ -203,14 +203,6 @@ enum LoggingParameters {
#define FS_EKF_ACTION_ALTHOLD 2 // switch to ALTHOLD mode on EKF failsafe
#define FS_EKF_ACTION_LAND_EVEN_STABILIZE 3 // switch to Land mode on EKF failsafe even if in a manual flight mode like stabilize
// for mavlink SET_POSITION_TARGET messages
#define MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE ((1<<0) | (1<<1) | (1<<2))
#define MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE ((1<<3) | (1<<4) | (1<<5))
#define MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE ((1<<6) | (1<<7) | (1<<8))
#define MAVLINK_SET_POS_TYPE_MASK_FORCE (1<<9)
#define MAVLINK_SET_POS_TYPE_MASK_YAW_IGNORE (1<<10)
#define MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE (1<<11)
// for PILOT_THR_BHV parameter
#define THR_BEHAVE_FEEDBACK_FROM_MID_STICK (1<<0)
#define THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND (1<<1)

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