From 6f099b62ce0583b9f4357e852e6a3478a9bc2019 Mon Sep 17 00:00:00 2001 From: PX4BuildBot Date: Wed, 30 Jul 2025 17:48:31 +1000 Subject: [PATCH] Update as suggested --- msg/versioned/VehicleCommand.msg | 1 + src/modules/commander/Commander.cpp | 1 + src/modules/mavlink/mavlink_receiver.cpp | 4 ---- 3 files changed, 2 insertions(+), 4 deletions(-) diff --git a/msg/versioned/VehicleCommand.msg b/msg/versioned/VehicleCommand.msg index 669a4b8af9..7ce5182d30 100644 --- a/msg/versioned/VehicleCommand.msg +++ b/msg/versioned/VehicleCommand.msg @@ -88,6 +88,7 @@ uint16 VEHICLE_CMD_REQUEST_CAMERA_INFORMATION = 521 # Request camera information uint16 VEHICLE_CMD_SET_CAMERA_MODE = 530 # Set camera capture mode (photo, video, etc.). uint16 VEHICLE_CMD_SET_CAMERA_ZOOM = 531 # Set camera zoom. uint16 VEHICLE_CMD_SET_CAMERA_FOCUS = 532 +uint16 VEHICLE_CMD_DO_SET_GLOBAL_ORIGIN = 611 # Set global origin. |Unused|Unused|Unused|Unused|Latitude (WGS-84)|Longitude (WGS-84)|[m] Altitude (AMSL from GNSS, positive above ground)| uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_PITCHYAW = 1000 # Setpoint to be sent to a gimbal manager to set a gimbal pitch and yaw. uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_CONFIGURE = 1001 # Gimbal configuration to set which sysid/compid is in primary and secondary control. uint16 VEHICLE_CMD_IMAGE_START_CAPTURE = 2000 # Start image capture sequence. diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index 424fe77f3a..b1a93b4232 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -1500,6 +1500,7 @@ Commander::handle_command(const vehicle_command_s &cmd) case vehicle_command_s::VEHICLE_CMD_SET_CAMERA_MODE: case vehicle_command_s::VEHICLE_CMD_SET_CAMERA_ZOOM: case vehicle_command_s::VEHICLE_CMD_SET_CAMERA_FOCUS: + case vehicle_command_s::VEHICLE_CMD_DO_SET_GLOBAL_ORIGIN: case vehicle_command_s::VEHICLE_CMD_DO_CHANGE_SPEED: case vehicle_command_s::VEHICLE_CMD_DO_LAND_START: case vehicle_command_s::VEHICLE_CMD_DO_GO_AROUND: diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index aa83c09ac5..5e88807bc8 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -185,10 +185,6 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg) handle_message_odometry(msg); break; - case MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN: - handle_message_set_gps_global_origin(msg); - break; - case MAVLINK_MSG_ID_RADIO_STATUS: handle_message_radio_status(msg); break;