Copter: move common mission handling up to GCS_MAVLINK

ArduCopter/GCS_Mavlink.cpp

@@ -880,64 +880,6 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
         break;
     }
 
-    case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST: // MAV ID: 38
-    {
-        handle_mission_write_partial_list(copter.mission, msg);
-        break;
-    }
-
-    // GCS has sent us a mission item, store to EEPROM
-    case MAVLINK_MSG_ID_MISSION_ITEM:           // MAV ID: 39
-    {
-        if (handle_mission_item(msg, copter.mission)) {
-            copter.DataFlash.Log_Write_EntireMission(copter.mission);
-        }
-        break;
-    }
-    
-    case MAVLINK_MSG_ID_MISSION_ITEM_INT:
-    {
-        if (handle_mission_item(msg, copter.mission)) {
-            copter.DataFlash.Log_Write_EntireMission(copter.mission);
-        }
-        break;
-    }
-
-    // read an individual command from EEPROM and send it to the GCS
-    case MAVLINK_MSG_ID_MISSION_REQUEST_INT:
-    case MAVLINK_MSG_ID_MISSION_REQUEST:     // MAV ID: 40, 51
-    {
-        handle_mission_request(copter.mission, msg);
-        break;
-    }
-
-    case MAVLINK_MSG_ID_MISSION_SET_CURRENT:    // MAV ID: 41
-    {
-        handle_mission_set_current(copter.mission, msg);
-        break;
-    }
-
-    // GCS request the full list of commands, we return just the number and leave the GCS to then request each command individually
-    case MAVLINK_MSG_ID_MISSION_REQUEST_LIST:       // MAV ID: 43
-    {
-        handle_mission_request_list(copter.mission, msg);
-        break;
-    }
-
-    // GCS provides the full number of commands it wishes to upload
-    //  individual commands will then be sent from the GCS using the MAVLINK_MSG_ID_MISSION_ITEM message
-    case MAVLINK_MSG_ID_MISSION_COUNT:          // MAV ID: 44
-    {
-        handle_mission_count(copter.mission, msg);
-        break;
-    }
-
-    case MAVLINK_MSG_ID_MISSION_CLEAR_ALL:      // MAV ID: 45
-    {
-        handle_mission_clear_all(copter.mission, msg);
-        break;
-    }
-
     case MAVLINK_MSG_ID_REQUEST_DATA_STREAM:    // MAV ID: 66
     {
         handle_request_data_stream(msg, false);
@@ -2075,3 +2017,8 @@ bool GCS_MAVLINK_Copter::accept_packet(const mavlink_status_t &status, mavlink_m
     }
     return (msg.sysid == copter.g.sysid_my_gcs);
 }
+
+AP_Mission *GCS_MAVLINK_Copter::get_mission()
+{
+    return &copter.mission;
+}

ArduCopter/GCS_Mavlink.h

@@ -17,7 +17,9 @@ protected:
     uint32_t telem_delay() const override;
 
     bool accept_packet(const mavlink_status_t &status, mavlink_message_t &msg) override;
-    
+
+    AP_Mission *get_mission() override;
+
 private:
 
     void handleMessage(mavlink_message_t * msg) override;