Sub: accept MISSION_START as both long and int

ArduPilot · Oct 3, 2023 · c1e12f6 · c1e12f6
1 parent 8999790
commit c1e12f6
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Showing 2 changed files with 11 additions and 5 deletions.
diff --git a/ArduSub/GCS_Mavlink.cpp b/ArduSub/GCS_Mavlink.cpp
@@ -468,6 +468,9 @@ MAV_RESULT GCS_MAVLINK_Sub::handle_command_int_packet(const mavlink_command_int_
     case MAV_CMD_DO_MOTOR_TEST:
         return handle_MAV_CMD_DO_MOTOR_TEST(packet);
 
+    case MAV_CMD_MISSION_START:
+        return handle_MAV_CMD_MISSION_START(packet);
+
     case MAV_CMD_NAV_LOITER_UNLIM:
         return handle_MAV_CMD_NAV_LOITER_UNLIM(packet);
 
@@ -523,15 +526,17 @@ MAV_RESULT GCS_MAVLINK_Sub::handle_command_long_packet(const mavlink_command_lon
         }
         return MAV_RESULT_FAILED;
 
-    case MAV_CMD_MISSION_START:
+    default:
+        return GCS_MAVLINK::handle_command_long_packet(packet, msg);
+    }
+}
+
+MAV_RESULT GCS_MAVLINK_Sub::handle_MAV_CMD_MISSION_START(const mavlink_command_int_t &packet)
+{
         if (sub.motors.armed() && sub.set_mode(Mode::Number::AUTO, ModeReason::GCS_COMMAND)) {
             return MAV_RESULT_ACCEPTED;
         }
         return MAV_RESULT_FAILED;
-
-    default:
-        return GCS_MAVLINK::handle_command_long_packet(packet, msg);
-    }
 }
 
 MAV_RESULT GCS_MAVLINK_Sub::handle_MAV_CMD_DO_MOTOR_TEST(const mavlink_command_int_t &packet)

diff --git a/ArduSub/GCS_Mavlink.h b/ArduSub/GCS_Mavlink.h
@@ -53,6 +53,7 @@ class GCS_MAVLINK_Sub : public GCS_MAVLINK {
 
     int16_t vfr_hud_throttle() const override;
 
+    MAV_RESULT handle_MAV_CMD_MISSION_START(const mavlink_command_int_t &packet);
     MAV_RESULT handle_MAV_CMD_DO_MOTOR_TEST(const mavlink_command_int_t &packet);
     MAV_RESULT handle_MAV_CMD_NAV_LOITER_UNLIM(const mavlink_command_int_t &packet);
     MAV_RESULT handle_MAV_CMD_NAV_LAND(const mavlink_command_int_t &packet);