From 64ae0049defc750d0242d2cc7e35c7829f02e4a0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Thu, 29 Sep 2022 11:04:12 +0200 Subject: [PATCH] mission: add support for NAV_CMD_DO_SET_ACTUATOR --- src/modules/mavlink/mavlink_mission.cpp | 1 + src/modules/navigator/mission_block.cpp | 1 + src/modules/navigator/mission_feasibility_checker.cpp | 1 + src/modules/navigator/navigation.h | 1 + 4 files changed, 4 insertions(+) diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp index 18ee75bb5c..b56731bdad 100644 --- a/src/modules/mavlink/mavlink_mission.cpp +++ b/src/modules/mavlink/mavlink_mission.cpp @@ -1553,6 +1553,7 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t * case MAV_CMD_DO_SET_ROI_NONE: case MAV_CMD_CONDITION_DELAY: case MAV_CMD_CONDITION_DISTANCE: + case MAV_CMD_DO_SET_ACTUATOR: mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command; break; diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index 2277a3b55e..c7170ec490 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -79,6 +79,7 @@ MissionBlock::is_mission_item_reached_or_completed() // Action Commands that doesn't have timeout completes instantaneously case NAV_CMD_DO_SET_SERVO: + case NAV_CMD_DO_SET_ACTUATOR: case NAV_CMD_DO_LAND_START: case NAV_CMD_DO_TRIGGER_CONTROL: case NAV_CMD_DO_DIGICAM_CONTROL: diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp index a88e1c0b2d..27f98e44f1 100644 --- a/src/modules/navigator/mission_feasibility_checker.cpp +++ b/src/modules/navigator/mission_feasibility_checker.cpp @@ -256,6 +256,7 @@ MissionFeasibilityChecker::checkMissionItemValidity(const mission_s &mission) missionitem.nav_cmd != NAV_CMD_DO_CHANGE_SPEED && missionitem.nav_cmd != NAV_CMD_DO_SET_HOME && missionitem.nav_cmd != NAV_CMD_DO_SET_SERVO && + missionitem.nav_cmd != NAV_CMD_DO_SET_ACTUATOR && missionitem.nav_cmd != NAV_CMD_DO_LAND_START && missionitem.nav_cmd != NAV_CMD_DO_TRIGGER_CONTROL && missionitem.nav_cmd != NAV_CMD_DO_DIGICAM_CONTROL && diff --git a/src/modules/navigator/navigation.h b/src/modules/navigator/navigation.h index 02e3cb9fff..b6a3361dac 100644 --- a/src/modules/navigator/navigation.h +++ b/src/modules/navigator/navigation.h @@ -75,6 +75,7 @@ enum NAV_CMD { NAV_CMD_DO_CHANGE_SPEED = 178, NAV_CMD_DO_SET_HOME = 179, NAV_CMD_DO_SET_SERVO = 183, + NAV_CMD_DO_SET_ACTUATOR = 187, NAV_CMD_DO_LAND_START = 189, NAV_CMD_DO_SET_ROI_LOCATION = 195, NAV_CMD_DO_SET_ROI_WPNEXT_OFFSET = 196,