Plane: move rally-point handling up

ArduPlane/GCS_Mavlink.cpp

@@ -1605,60 +1605,6 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
     }
 #endif // GEOFENCE_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 >= plane.rally.get_rally_total() || 
-            packet.idx >= plane.rally.get_rally_max()) {
-            send_text(MAV_SEVERITY_WARNING,"Bad rally point message ID");
-            break;
-        }
-
-        if (packet.count != plane.rally.get_rally_total()) {
-            send_text(MAV_SEVERITY_WARNING,"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;
-        plane.rally.set_rally_point_with_index(packet.idx, 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 > plane.rally.get_rally_total()) {
-            send_text(MAV_SEVERITY_WARNING, "Bad rally point index");
-            break;
-        }
-        RallyLocation rally_point;
-        if (!plane.rally.get_rally_point_with_index(packet.idx, rally_point)) {
-            send_text(MAV_SEVERITY_WARNING, "Failed to set rally point");
-            break;
-        }
-
-        mavlink_msg_rally_point_send_buf(msg,
-                                         chan, msg->sysid, msg->compid, packet.idx, 
-                                         plane.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;
-    }    
-
     case MAVLINK_MSG_ID_PARAM_SET:
     {
         handle_param_set(msg, &plane.DataFlash);
@@ -2113,3 +2059,8 @@ void GCS_MAVLINK_Plane::handle_mission_set_current(AP_Mission &mission, mavlink_
         plane.mission.resume();
     }
 }
+
+AP_Rally *GCS_MAVLINK_Plane::get_rally() const
+{
+    return &plane.rally;
+}

ArduPlane/GCS_Mavlink.h

@@ -21,6 +21,8 @@ protected:
     AP_Mission *get_mission() override;
     void handle_mission_set_current(AP_Mission &mission, mavlink_message_t *msg) override;
 
+    AP_Rally *get_rally() const override;
+
     uint8_t sysid_my_gcs() const override;
 
 private: