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AP_MISSION: Add missing do nothing commands mavsdk compatability #24702

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AP_MISSION: Add missing do nothing commands mavsdk compatability #24702

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16456b6
AP_Mission: added DO_GIMBAL_MANAGER_CONFIGURE to mission module
trolledbypro Aug 18, 2023
93e63c6
AP_Mission: added IMAGE_STOP_CAPTURE support to mission (which does n…
trolledbypro Aug 18, 2023
7db0e0b
Merge branch 'master' into add-missing-do-nothing-commands-MAVSDK-com…
trolledbypro Aug 18, 2023
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21 changes: 21 additions & 0 deletions libraries/AP_Mission/AP_Mission.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -376,8 +376,10 @@ bool AP_Mission::verify_command(const Mission_Command& cmd)
case MAV_CMD_DO_AUX_FUNCTION:
case MAV_CMD_DO_SET_RESUME_REPEAT_DIST:
case MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW:
case MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE:
case MAV_CMD_JUMP_TAG:
case MAV_CMD_IMAGE_START_CAPTURE:
case MAV_CMD_IMAGE_STOP_CAPTURE:
case MAV_CMD_SET_CAMERA_ZOOM:
case MAV_CMD_SET_CAMERA_FOCUS:
case MAV_CMD_VIDEO_START_CAPTURE:
Expand Down Expand Up @@ -422,6 +424,7 @@ bool AP_Mission::start_command(const Mission_Command& cmd)
case MAV_CMD_DO_DIGICAM_CONTROL:
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
case MAV_CMD_IMAGE_START_CAPTURE:
case MAV_CMD_IMAGE_STOP_CAPTURE:
case MAV_CMD_SET_CAMERA_ZOOM:
case MAV_CMD_SET_CAMERA_FOCUS:
case MAV_CMD_VIDEO_START_CAPTURE:
Expand All @@ -438,6 +441,8 @@ bool AP_Mission::start_command(const Mission_Command& cmd)
return command_do_set_repeat_dist(cmd);
case MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW:
return start_command_do_gimbal_manager_pitchyaw(cmd);
case MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE: // Does nothing as current ArduPilot codebase does not check for who has gimbal control
return true;
case MAV_CMD_JUMP_TAG:
_jump_tag.tag = cmd.content.jump.target;
_jump_tag.age = 1;
Expand Down Expand Up @@ -1317,6 +1322,9 @@ MAV_MISSION_RESULT AP_Mission::mavlink_int_to_mission_cmd(const mavlink_mission_
cmd.content.image_start_capture.start_seq_number = packet.param4;
break;

case MAV_CMD_IMAGE_STOP_CAPTURE: // Does nothing as current ArduPilot codebase has not implemented this command
break;

case MAV_CMD_SET_CAMERA_ZOOM:
cmd.content.set_camera_zoom.zoom_type = packet.param1;
cmd.content.set_camera_zoom.zoom_value = packet.param2;
Expand All @@ -1335,6 +1343,9 @@ MAV_MISSION_RESULT AP_Mission::mavlink_int_to_mission_cmd(const mavlink_mission_
cmd.content.video_stop_capture.video_stream_id = packet.param1;
break;

case MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE: // MAV ID: 1001
break; // Does nothing as current ArduPilot codebase does not check for who has gimbal control

default:
// unrecognised command
return MAV_MISSION_UNSUPPORTED;
Expand Down Expand Up @@ -1830,6 +1841,9 @@ bool AP_Mission::mission_cmd_to_mavlink_int(const AP_Mission::Mission_Command& c
packet.param4 = cmd.content.image_start_capture.start_seq_number;
break;

case MAV_CMD_IMAGE_STOP_CAPTURE: // Does nothing as current ArduPilot codebase has not implemented this command
break;

case MAV_CMD_SET_CAMERA_ZOOM:
packet.param1 = cmd.content.set_camera_zoom.zoom_type;
packet.param2 = cmd.content.set_camera_zoom.zoom_value;
Expand All @@ -1848,6 +1862,9 @@ bool AP_Mission::mission_cmd_to_mavlink_int(const AP_Mission::Mission_Command& c
packet.param1 = cmd.content.video_stop_capture.video_stream_id;
break;

case MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE: // MAV ID: 1001
break; // Does nothing as current ArduPilot codebase does not check for who has gimbal control

default:
// unrecognised command
return false;
Expand Down Expand Up @@ -2651,8 +2668,12 @@ const char *AP_Mission::Mission_Command::type() const
return "PauseContinue";
case MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW:
return "GimbalPitchYaw";
case MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE:
return "GimbalConfigure";
case MAV_CMD_IMAGE_START_CAPTURE:
return "ImageStartCapture";
case MAV_CMD_IMAGE_STOP_CAPTURE:
return "ImageStopCapture";
case MAV_CMD_SET_CAMERA_ZOOM:
return "SetCameraZoom";
case MAV_CMD_SET_CAMERA_FOCUS:
Expand Down
3 changes: 3 additions & 0 deletions libraries/AP_Mission/AP_Mission_Commands.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -166,6 +166,9 @@ bool AP_Mission::start_command_camera(const AP_Mission::Mission_Command& cmd)
camera->take_picture();
return true;

case MAV_CMD_IMAGE_STOP_CAPTURE: // Does nothing as current ArduPilot codebase has not implemented this command
return true;

case MAV_CMD_VIDEO_START_CAPTURE:
case MAV_CMD_VIDEO_STOP_CAPTURE:
{
Expand Down
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