From b3e693daa4f0ebcb33543b11ec017b9c6395bc87 Mon Sep 17 00:00:00 2001
From: Michael Day <mday299@yahoo.com>
Date: Sat, 25 Oct 2014 14:19:21 -0700
Subject: [PATCH] AP_Mission: Support MAV_CMD_DO_FENCE_ENABLE as a mission
item.
---
libraries/AP_Mission/AP_Mission.cpp | 8 ++++++++
1 file changed, 8 insertions(+)
diff --git a/libraries/AP_Mission/AP_Mission.cpp b/libraries/AP_Mission/AP_Mission.cpp
index 2703dbf16..9f8d3f6b9 100644
--- a/libraries/AP_Mission/AP_Mission.cpp
+++ b/libraries/AP_Mission/AP_Mission.cpp
@@ -611,6 +611,10 @@ bool AP_Mission::mavlink_to_mission_cmd(const mavlink_mission_item_t& packet, AP
cmd.content.cam_trigg_dist.meters = packet.param1; // distance between camera shots in meters
break;
+ case MAV_CMD_DO_FENCE_ENABLE: // MAV ID: 207
+ cmd.p1 = packet.param1; // action 0=disable, 1=enable
+ break;
+
case MAV_CMD_DO_PARACHUTE: // MAV ID: 208
cmd.p1 = packet.param1; // action 0=disable, 1=enable, 2=release. See PARACHUTE_ACTION enum
break;
@@ -880,6 +884,10 @@ bool AP_Mission::mission_cmd_to_mavlink(const AP_Mission::Mission_Command& cmd,
packet.param1 = cmd.content.cam_trigg_dist.meters; // distance between camera shots in meters
break;
+ case MAV_CMD_DO_FENCE_ENABLE: // MAV ID: 207
+ packet.param1 = cmd.p1; // action 0=disable, 1=enable
+ break;
+
case MAV_CMD_DO_PARACHUTE: // MAV ID: 208
packet.param1 = cmd.p1; // action 0=disable, 1=enable, 2=release. See PARACHUTE_ACTION enum
break;
--
GitLab