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mavlink_mission: support missions with int params

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This brings support for the messages MISSION_REQUEST_INT and
MISSION_ITEM_INT which raises the lat/lon accuracy for waypoints.
This commit is contained in:
Julian Oes
2016-09-26 22:55:21 +02:00
committed by Lorenz Meier
parent 997ae98444
commit 047c0e44bd
3 changed files with 161 additions and 33 deletions
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src/modules/mavlink/mavlink_mission.h
+16 -1
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@@ -108,6 +108,9 @@ private:
uint32_t _action_timeout;
uint32_t _retry_timeout;
bool _int_mode; ///< Use accurate int32 instead of float
unsigned _max_count; ///< Maximum number of mission items
unsigned _filesystem_errcount; ///< File system error count
@@ -185,20 +188,32 @@ private:
void handle_mission_request_list(const mavlink_message_t *msg);
void handle_mission_request(const mavlink_message_t *msg);
void handle_mission_request_int(const mavlink_message_t *msg);
void handle_mission_request_both(const mavlink_message_t *msg);
void handle_mission_count(const mavlink_message_t *msg);
void handle_mission_item(const mavlink_message_t *msg);
void handle_mission_item_int(const mavlink_message_t *msg);
void handle_mission_item_both(const mavlink_message_t *msg);
void handle_mission_clear_all(const mavlink_message_t *msg);
/**
* Parse mavlink MISSION_ITEM message to get mission_item_s.
*
* @param mavlink_mission_item pointer to mavlink_mission_item_t or mavlink_mission_item_int_t
* depending on _int_mode
* @param mission_item pointer to mission_item to construct
*/
int parse_mavlink_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item);
/**
* Format mission_item_s as mavlink MISSION_ITEM message.
* Format mission_item_s as mavlink MISSION_ITEM(_INT) message.
*
* @param mission_item: pointer to the existing mission item
* @param mavlink_mission_item: pointer to mavlink_mission_item_t or mavlink_mission_item_int_t
* depending on _int_mode.
*/
int format_mavlink_mission_item(const struct mission_item_s *mission_item,
mavlink_mission_item_t *mavlink_mission_item);