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ROI - move handling to navigator (#7939)

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This commit is contained in:
Daniel Agar
2017-09-26 12:25:02 -04:00
committed by GitHub
parent e72769c924
commit 3c18be387c
24 changed files with 301 additions and 291 deletions
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src/modules/mavlink/mavlink_mission.cpp
+29 -3
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@@ -1333,6 +1333,22 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
mission_item->loiter_exit_xtrack = (mavlink_mission_item->param4 > 0);
break;
case MAV_CMD_NAV_ROI:
case MAV_CMD_DO_SET_ROI:
if ((int)mavlink_mission_item->param1 == MAV_ROI_LOCATION) {
mission_item->nav_cmd = NAV_CMD_DO_SET_ROI;
mission_item->params[0] = MAV_ROI_LOCATION;
mission_item->params[4] = mavlink_mission_item->x;
mission_item->params[5] = mavlink_mission_item->y;
mission_item->params[6] = mavlink_mission_item->z;
} else {
return MAV_MISSION_INVALID_PARAM1;
}
break;
case MAV_CMD_NAV_VTOL_TAKEOFF:
case MAV_CMD_NAV_VTOL_LAND:
mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command;
@@ -1391,6 +1407,19 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
mission_item->do_jump_repeat_count = mavlink_mission_item->param2;
break;
case MAV_CMD_NAV_ROI:
case MAV_CMD_DO_SET_ROI: {
const int roi_mode = mavlink_mission_item->param1;
if (roi_mode == MAV_ROI_NONE || roi_mode == MAV_ROI_WPNEXT || roi_mode == MAV_ROI_WPINDEX) {
mission_item->nav_cmd = NAV_CMD_DO_SET_ROI;
} else {
return MAV_MISSION_INVALID_PARAM1;
}
}
break;
case MAV_CMD_DO_CHANGE_SPEED:
case MAV_CMD_DO_SET_SERVO:
case MAV_CMD_DO_LAND_START:
@@ -1402,8 +1431,6 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
case MAV_CMD_IMAGE_STOP_CAPTURE:
case MAV_CMD_VIDEO_START_CAPTURE:
case MAV_CMD_VIDEO_STOP_CAPTURE:
case NAV_CMD_DO_SET_ROI:
case NAV_CMD_ROI:
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
case MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL:
case MAV_CMD_SET_CAMERA_MODE:
@@ -1478,7 +1505,6 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *
case NAV_CMD_DO_MOUNT_CONFIGURE:
case NAV_CMD_DO_MOUNT_CONTROL:
case NAV_CMD_DO_SET_ROI:
case NAV_CMD_ROI:
case NAV_CMD_DO_SET_CAM_TRIGG_DIST:
case NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL:
case NAV_CMD_SET_CAMERA_MODE: