Line data    Source code

       1             : #include "GCS.h"
       2             : 
       3             : #include "AP_ServoRelayEvents/AP_ServoRelayEvents.h"
       4             : 
       5             : #if AP_MAVLINK_SERVO_RELAY_ENABLED
       6             : 
       7         823 : MAV_RESULT GCS_MAVLINK::handle_servorelay_message(const mavlink_command_int_t &packet)
       8             : {
       9         823 :     AP_ServoRelayEvents *handler = AP::servorelayevents();
      10         823 :     if (handler == nullptr) {
      11           0 :         return MAV_RESULT_UNSUPPORTED;
      12             :     }
      13             : 
      14         823 :     MAV_RESULT result = MAV_RESULT_FAILED;
      15             : 
      16         823 :     switch (packet.command) {
      17         775 :     case MAV_CMD_DO_SET_SERVO:
      18         775 :         if (handler->do_set_servo(packet.param1, packet.param2)) {
      19         775 :             result = MAV_RESULT_ACCEPTED;
      20             :         }
      21         775 :         break;
      22             : 
      23           4 :     case MAV_CMD_DO_REPEAT_SERVO:
      24           4 :         if (handler->do_repeat_servo(packet.param1, packet.param2, packet.param3, packet.param4 * 1000)) {
      25           4 :             result = MAV_RESULT_ACCEPTED;
      26             :         }
      27           4 :         break;
      28             : 
      29             : #if AP_RELAY_ENABLED
      30          40 :     case MAV_CMD_DO_SET_RELAY:
      31          40 :         if (handler->do_set_relay(packet.param1, packet.param2)) {
      32          40 :             result = MAV_RESULT_ACCEPTED;
      33             :         }
      34          40 :         break;
      35             : 
      36           4 :     case MAV_CMD_DO_REPEAT_RELAY:
      37           4 :         if (handler->do_repeat_relay(packet.param1, packet.param2, packet.param3 * 1000)) {
      38           4 :             result = MAV_RESULT_ACCEPTED;
      39             :         }
      40           4 :         break;
      41             : #endif
      42             : 
      43           0 :     default:
      44           0 :         result = MAV_RESULT_UNSUPPORTED;
      45           0 :         break;
      46             :     }
      47             : 
      48         823 :     return result;
      49             : }
      50             : 
      51             : #endif  // AP_MAVLINK_SERVO_RELAY_ENABLED