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Copter: Update the result of a MavLink message, this is a NFC 

The result variable is not used, but at least it gets documented :)
master
Dr.-Ing. Amilcar Do Carmo Lucas 7 years ago committed by Randy Mackay
parent
ef0144751e
commit
8678d13e7b
1 changed files with 11 additions and 3 deletions
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  1. 14
      ArduCopter/GCS_Mavlink.cpp

14
ArduCopter/GCS_Mavlink.cpp
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@ -1447,10 +1447,14 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg) @@ -1447,10 +1447,14 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
// send request
if (!pos_ignore && !vel_ignore && acc_ignore) {
copter.guided_set_destination_posvel(pos_vector, vel_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
result = MAV_RESULT_ACCEPTED;
} else if (pos_ignore && !vel_ignore && acc_ignore) {
copter.guided_set_velocity(vel_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
result = MAV_RESULT_ACCEPTED;
} else if (!pos_ignore && vel_ignore && acc_ignore) {
if (!copter.guided_set_destination(pos_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative)) {
if (copter.guided_set_destination(pos_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative)) {
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
} else {
@ -1518,7 +1522,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg) @@ -1518,7 +1522,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
case MAV_FRAME_GLOBAL:
case MAV_FRAME_GLOBAL_INT:
default:
// Copter does not support navigation to absolute altitudes. This convert the WGS84 altitude
// Copter does not support navigation to absolute altitudes. This converts the WGS84 altitude
// to a home-relative altitude before passing it to the navigation controller
loc.alt -= copter.ahrs.get_home().alt;
loc.flags.relative_alt = true;
@ -1542,10 +1546,14 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg) @@ -1542,10 +1546,14 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
if (!pos_ignore && !vel_ignore && acc_ignore) {
copter.guided_set_destination_posvel(pos_ned, Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f), !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
result = MAV_RESULT_ACCEPTED;
} else if (pos_ignore && !vel_ignore && acc_ignore) {
copter.guided_set_velocity(Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f), !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
result = MAV_RESULT_ACCEPTED;
} else if (!pos_ignore && vel_ignore && acc_ignore) {
if (!copter.guided_set_destination(pos_ned, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative)) {
if (copter.guided_set_destination(pos_ned, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative)) {
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
} else {

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