GCS_Mavlink: Add lua method for command_long

ArduPilot · Jan 30, 2025 · 5e126d3 · 5e126d3
1 parent d529601
commit 5e126d3
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Showing 2 changed files with 16 additions and 1 deletion.
diff --git a/libraries/GCS_MAVLink/GCS.cpp b/libraries/GCS_MAVLink/GCS.cpp
@@ -425,6 +425,20 @@ MAV_RESULT GCS::lua_command_int_packet(const mavlink_command_int_t &packet)
 
     return ch->handle_command_int_packet(packet, msg);
 }
+
+MAV_RESULT GCS::lua_command_long_packet(const mavlink_command_long_t &packet)
+{
+    // for now we assume channel 0. In the future we may create a dedicated channel
+    auto *ch = chan(0);
+    if (ch == nullptr) {
+        return MAV_RESULT_UNSUPPORTED;
+    }
+    // we need a dummy message for some calls
+    mavlink_message_t msg {};
+
+    return ch->try_command_long_as_command_int(packet, msg);
+}
+
 #endif // AP_SCRIPTING_ENABLED
 
 #endif  // HAL_GCS_ENABLED
diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
@@ -1294,8 +1294,9 @@ class GCS
     virtual uint8_t sysid_this_mav() const = 0;
 
 #if AP_SCRIPTING_ENABLED
-    // lua access to command_int
+    // lua access to command_int and command_long
     MAV_RESULT lua_command_int_packet(const mavlink_command_int_t &packet);
+    MAV_RESULT lua_command_long_packet(const mavlink_command_long_t &packet);
 #endif
 
     // Sequence number should be incremented when available modes changes