From b38975a5c508b41814dc724de97736f551bea7de Mon Sep 17 00:00:00 2001
From: Michael Day <michael.day@gtri.gatech.edu>
Date: Sat, 26 Nov 2016 16:56:28 -0500
Subject: [PATCH] Copter: Support NAV_GUIDED_ENABLE commands outside of a
Mission.
Good for companion computers that want to enable NAV_GUIDED.
---
ArduCopter/GCS_Mavlink.cpp | 9 +++++++++
1 file changed, 9 insertions(+)
diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index 7fe2333853..6ab0d9688b 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -1172,6 +1172,15 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
result = MAV_RESULT_ACCEPTED;
break;
+#if NAV_GUIDED == ENABLED
+ case MAV_CMD_NAV_GUIDED_ENABLE: {
+ AP_Mission::Mission_Command cmd = {0};
+ cmd.p1 = packet.param1;
+ copter.do_nav_guided_enable(cmd);
+ break;
+ }
+#endif
+
#if CAMERA == ENABLED
case MAV_CMD_DO_DIGICAM_CONFIGURE:
copter.camera.configure(packet.param1,
--
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