Issue about copter 4.1

BryanFly · August 29, 2021, 10:12am

according to the source codes of copter4.1.It seemed that no code block about “MAV_CMD_COMPONENT_ARM_DISARM”in file “GCS_Mavlink.cpp”.
Parsing MAV_CMD codes should be MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_long_t &packet)
{…}?
or if there are other files exist,which handle with MAV_CMD?

rmackay9 · August 30, 2021, 10:53am

@BryanFly,

Maybe what you’re looking for is this?

github.com

ArduPilot/ardupilot/blob/master/libraries/GCS_MAVLink/GCS_Common.cpp#L4260


case MAV_CMD_DO_REPEAT_SERVO:
case MAV_CMD_DO_SET_RELAY:
case MAV_CMD_DO_REPEAT_RELAY:
    result = handle_servorelay_message(packet);
    break;


case MAV_CMD_DO_FLIGHTTERMINATION:
    result = handle_flight_termination(packet);
    break;


case MAV_CMD_COMPONENT_ARM_DISARM:
    result = handle_command_component_arm_disarm(packet);
    break;


case MAV_CMD_FIXED_MAG_CAL_YAW:
    result = handle_fixed_mag_cal_yaw(packet);
    break;
    
default:
    result = MAV_RESULT_UNSUPPORTED;
    break;

BryanFly · August 30, 2021, 12:11pm

Many thanks rmackay,but I don’t make clear that the functionality of file “GCS_MavLink.cpp” from directory "Arducopter.there must be difference between "GCS_MavLink.cpp"and “GCS_Common.cpp”