Plane: move common mission handling up to GCS_MAVLINK

ArduPlane/GCS_Mavlink.cpp

@@ -1567,28 +1567,6 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* 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:
-    {
-        handle_mission_request_list(plane.mission, msg);
-        break;
-    }
-
-    // XXX read a WP from EEPROM and send it to the GCS
-    case MAVLINK_MSG_ID_MISSION_REQUEST_INT:
-    case MAVLINK_MSG_ID_MISSION_REQUEST:
-    {
-        handle_mission_request(plane.mission, msg);
-        break;
-    }
-
-
-    case MAVLINK_MSG_ID_MISSION_ACK:
-    {
-        // nothing to do
-        break;
-    }
-
     case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
     {
         // mark the firmware version in the tlog
@@ -1601,56 +1579,6 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
         break;
     }
 
-    case MAVLINK_MSG_ID_MISSION_CLEAR_ALL:
-    {
-        handle_mission_clear_all(plane.mission, msg);
-        break;
-    }
-
-    case MAVLINK_MSG_ID_MISSION_SET_CURRENT:
-    {
-        // disable cross-track when user asks for WP change, to
-        // prevent unexpected flight paths
-        plane.auto_state.next_wp_no_crosstrack = true;
-        handle_mission_set_current(plane.mission, msg);
-        if (plane.control_mode == AUTO && plane.mission.state() == AP_Mission::MISSION_STOPPED) {
-            plane.mission.resume();
-        }
-        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:
-    {
-        handle_mission_count(plane.mission, msg);
-        break;
-    }
-
-    case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST:
-    {
-        handle_mission_write_partial_list(plane.mission, msg);
-        break;
-    }
-
-    // GCS has sent us a mission item, store to EEPROM
-    case MAVLINK_MSG_ID_MISSION_ITEM:
-    {
-        if (handle_mission_item(msg, plane.mission)) {
-            plane.DataFlash.Log_Write_EntireMission(plane.mission);
-        }
-        break;
-    }
-    
-    // GCS has sent us a mission item, store to EEPROM
-    case MAVLINK_MSG_ID_MISSION_ITEM_INT:
-    {
-        if (handle_mission_item(msg, plane.mission)) {
-            plane.DataFlash.Log_Write_EntireMission(plane.mission);
-        }
-        break;
-    }
-
 #if GEOFENCE_ENABLED == ENABLED
     // receive a fence point from GCS and store in EEPROM
     case MAVLINK_MSG_ID_FENCE_POINT: {
@@ -2180,3 +2108,17 @@ bool GCS_MAVLINK_Plane::accept_packet(const mavlink_status_t &status, mavlink_me
     }
     return (msg.sysid == plane.g.sysid_my_gcs);
 }
+
+AP_Mission *GCS_MAVLINK_Plane::get_mission()
+{
+    return &plane.mission;
+}
+
+void GCS_MAVLINK_Plane::handle_mission_set_current(AP_Mission &mission, mavlink_message_t *msg)
+{
+    plane.auto_state.next_wp_no_crosstrack = true;
+    GCS_MAVLINK::handle_mission_set_current(mission, msg);
+    if (plane.control_mode == AUTO && plane.mission.state() == AP_Mission::MISSION_STOPPED) {
+        plane.mission.resume();
+    }
+}

ArduPlane/GCS_Mavlink.h

@@ -17,7 +17,10 @@ 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;
+    void handle_mission_set_current(AP_Mission &mission, mavlink_message_t *msg) override;
+
 private:
 
     void handleMessage(mavlink_message_t * msg) override;