Blimp: handle MAV_CMD_NAV_TAKEOFF via command_long and command_in

ArduPilot · Oct 18, 2023 · b79fb43 · b79fb43
1 parent 0caceb1
commit b79fb43
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Showing 2 changed files with 12 additions and 4 deletions.
diff --git a/Blimp/GCS_Mavlink.cpp b/Blimp/GCS_Mavlink.cpp
@@ -475,6 +475,8 @@ MAV_RESULT GCS_MAVLINK_Blimp::handle_command_int_packet(const mavlink_command_in
     switch (packet.command) {
     case MAV_CMD_DO_REPOSITION:
         return handle_command_int_do_reposition(packet);
+    case MAV_CMD_NAV_TAKEOFF:
+        return MAV_RESULT_ACCEPTED;
     default:
         return GCS_MAVLINK::handle_command_int_packet(packet, msg);
     }
@@ -484,10 +486,6 @@ MAV_RESULT GCS_MAVLINK_Blimp::handle_command_long_packet(const mavlink_command_l
 {
     switch (packet.command) {
 
-    case MAV_CMD_NAV_TAKEOFF: {
-        return MAV_RESULT_ACCEPTED;
-    }
-
     case MAV_CMD_CONDITION_YAW:
         // param1 : target angle [0-360]
         // param2 : speed during change [deg per second]
@@ -510,6 +508,15 @@ MAV_RESULT GCS_MAVLINK_Blimp::handle_command_long_packet(const mavlink_command_l
     }
 }
 
+bool GCS_MAVLINK_Blimp::mav_frame_for_command_long(MAV_FRAME &frame, MAV_CMD packet_command) const
+{
+    if (packet_command == MAV_CMD_NAV_TAKEOFF) {
+        frame = MAV_FRAME_GLOBAL_RELATIVE_ALT;
+        return true;
+    }
+    return GCS_MAVLINK::mav_frame_for_command_long(frame, packet_command);
+}
+
 void GCS_MAVLINK_Blimp::handleMessage(const mavlink_message_t &msg)
 {
     switch (msg.msgid) {

diff --git a/Blimp/GCS_Mavlink.h b/Blimp/GCS_Mavlink.h
@@ -30,6 +30,7 @@ class GCS_MAVLINK_Blimp : public GCS_MAVLINK
     MAV_RESULT handle_command_long_packet(const mavlink_command_long_t &packet, const mavlink_message_t &msg) override;
     MAV_RESULT handle_command_int_do_reposition(const mavlink_command_int_t &packet);
 
+    bool mav_frame_for_command_long(MAV_FRAME &frame, MAV_CMD packet_command) const override;
 
     bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED;
     bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED;