ArduPlane: support MAVLINK_MSG_ID_MISSION_ITEM_INT

brianlsharp · Apr 30, 2016 · cd56061 · cd56061
1 parent 5848d8a
commit cd56061
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Showing 2 changed files with 11 additions and 1 deletion.
diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
@@ -1662,8 +1662,8 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         break;
     }
 
-
     // XXX read a WP from EEPROM and send it to the GCS
+    case MAVLINK_MSG_ID_MISSION_REQUEST_INT:
     case MAVLINK_MSG_ID_MISSION_REQUEST:
     {
         handle_mission_request(plane.mission, msg);
@@ -1735,6 +1735,15 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         }
         break;
     }
+
+    // GCS has sent us a mission item, store to EEPROM
+    case MAVLINK_MSG_ID_MISSION_ITEM_INT:
+    {
+        if (handle_mission_item(msg, plane.mission)) {
+            plane.DataFlash.Log_Write_EntireMission(plane.mission);
+        }
+        break;
+    }
 
 #if GEOFENCE_ENABLED == ENABLED
     // receive a fence point from GCS and store in EEPROM

diff --git a/ArduPlane/capabilities.cpp b/ArduPlane/capabilities.cpp
@@ -7,4 +7,5 @@ void Plane::init_capabilities(void)
     hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT);
     hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT);
     hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_COMMAND_INT);
+    hal.util->set_capabilities(MAV_PROTOCOL_CAPABILITY_MISSION_INT);
 }