GCS_MAVLink: support gripper commands as both long and int

ArduPilot · Nov 8, 2023 · abf3290 · abf3290
1 parent 09ab14c
commit abf3290
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Showing 2 changed files with 7 additions and 8 deletions.
diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
@@ -657,7 +657,7 @@ class GCS_MAVLINK
     MAV_RESULT handle_command_camera(const mavlink_command_int_t &packet);
     MAV_RESULT handle_command_do_set_roi(const mavlink_command_int_t &packet);
     virtual MAV_RESULT handle_command_do_set_roi(const Location &roi_loc);
-    MAV_RESULT handle_command_do_gripper(const mavlink_command_long_t &packet);
+    MAV_RESULT handle_command_do_gripper(const mavlink_command_int_t &packet);
     MAV_RESULT handle_command_do_sprayer(const mavlink_command_int_t &packet);
     MAV_RESULT handle_command_do_set_mode(const mavlink_command_int_t &packet);
     MAV_RESULT handle_command_get_home_position(const mavlink_command_int_t &packet);

diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -4552,7 +4552,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_set_ekf_source_set(const mavlink_command_
 }
 
 #if AP_GRIPPER_ENABLED
-MAV_RESULT GCS_MAVLINK::handle_command_do_gripper(const mavlink_command_long_t &packet)
+MAV_RESULT GCS_MAVLINK::handle_command_do_gripper(const mavlink_command_int_t &packet)
 {
     AP_Gripper *gripper = AP::gripper();
     if (gripper == nullptr) {
@@ -4726,12 +4726,6 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
 
     switch (packet.command) {
 
-#if AP_GRIPPER_ENABLED
-    case MAV_CMD_DO_GRIPPER:
-        result = handle_command_do_gripper(packet);
-        break;
-#endif
-
 #if AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED
     case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES: {
         result = handle_command_request_autopilot_capabilities(packet);
@@ -5048,6 +5042,11 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
     case MAV_CMD_DO_FLIGHTTERMINATION:
         return handle_flight_termination(packet);
 
+#if AP_GRIPPER_ENABLED
+    case MAV_CMD_DO_GRIPPER:
+        return handle_command_do_gripper(packet);
+#endif
+
     case MAV_CMD_DO_SET_MODE:
         return handle_command_do_set_mode(packet);