From f400f39f080aab9d31fbd5b010a61a4f10eb88e2 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 6 Jan 2015 15:28:38 +1100
Subject: [PATCH] Rover: fixed build warnings
---
APMrover2/GCS_Mavlink.pde | 16 ++++++++++++----
APMrover2/commands_logic.pde | 1 +
APMrover2/setup.pde | 4 +---
3 files changed, 14 insertions(+), 7 deletions(-)
diff --git a/APMrover2/GCS_Mavlink.pde b/APMrover2/GCS_Mavlink.pde
index 08a89ca3f..6935c5fbc 100644
--- a/APMrover2/GCS_Mavlink.pde
+++ b/APMrover2/GCS_Mavlink.pde
@@ -530,14 +530,22 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
// unused
break;
- case MSG_RETRY_DEFERRED:
- case MSG_TERRAIN:
- break; // just here to prevent a warning
-
case MSG_BATTERY2:
CHECK_PAYLOAD_SIZE(BATTERY2);
gcs[chan-MAVLINK_COMM_0].send_battery2(battery);
break;
+
+ case MSG_CAMERA_FEEDBACK:
+#if CAMERA == ENABLED
+ CHECK_PAYLOAD_SIZE(CAMERA_FEEDBACK);
+ camera.send_feedback(chan, gps, ahrs, current_loc);
+#endif
+ break;
+
+ case MSG_RETRY_DEFERRED:
+ case MSG_TERRAIN:
+ case MSG_OPTICAL_FLOW:
+ break; // just here to prevent a warning
}
diff --git a/APMrover2/commands_logic.pde b/APMrover2/commands_logic.pde
index 3ab28ec39..69fcfaff4 100644
--- a/APMrover2/commands_logic.pde
+++ b/APMrover2/commands_logic.pde
@@ -308,6 +308,7 @@ static void do_take_picture()
{
#if CAMERA == ENABLED
camera.trigger_pic();
+ gcs_send_message(MSG_CAMERA_FEEDBACK);
if (should_log(MASK_LOG_CAMERA)) {
DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
}
diff --git a/APMrover2/setup.pde b/APMrover2/setup.pde
index 7bc62c664..08e49ae22 100644
--- a/APMrover2/setup.pde
+++ b/APMrover2/setup.pde
@@ -341,9 +341,7 @@ setup_flightmodes(uint8_t argc, const Menu::arg *argv)
mode != AUTO &&
mode != RTL)
{
- if (mode < MANUAL)
- mode = RTL;
- else if (mode > RTL)
+ if (mode > RTL)
mode = MANUAL;
else
mode += radioInputSwitch;
--
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