Changeset 84 in flair-src for branches/mavlink/tools/Controller/Mavlink/src/GuiGcs.cpp

Timestamp:

09/23/16 11:13:25 (8 years ago)

Author:

Thomas Fuhrmann

Message:

Update MavlinkUDP files and add pause function

File:

• branches/mavlink/tools/Controller/Mavlink/src/GuiGcs.cpp (modified) (2 diffs)

branches/mavlink/tools/Controller/Mavlink/src/GuiGcs.cpp

@@ -42 +42 @@
   //outputSocket = new Socket((Thread *)this, "output socket", outputAddress + ":" + to_string(outputPort));
 
+  missionPauseEnabled = false;
+
   mavCom = new MavlinkUDP(outputAddress, outputPort);
 }
@@ -78 +80 @@
 }
 
-void GuiGcs::MissionResume() {
-  cout << "MavPlanner GuiGcs MissionResume" << endl;
+void GuiGcs::MissionPause() {
+  cout << "MavPlanner GuiGcs MissionPause" << endl;
+  // send pause/continue depending on the state of the button
+  if(missionPauseEnabled) {
+      missionPauseEnabled = false;
+      cout << "Sent pause command.\n";
+      mavCom->cmdDoPauseContinue(mavCom->target.getSysID(), mavCom->target.getCompID(), 0);
+  } else {
+      missionPauseEnabled = true;
+      cout << "Sent continue command.\n";
+      mavCom->cmdDoPauseContinue(mavCom->target.getSysID(), mavCom->target.getCompID(), 1);
+  }
+  mavCom->waitCommandAck(ACK_TIMEOUT);
 }