FlightData: Add action for MAV_CMD_CONTROL_HIGH_LATENCY

RotorsAndCams · Dec 14, 2022 · fa0e386 · fa0e386
1 parent 7ac221f
commit fa0e386
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Showing 2 changed files with 30 additions and 1 deletion.
diff --git a/ExtLibs/ArduPilot/Mavlink/MAVLinkInterface.cs b/ExtLibs/ArduPilot/Mavlink/MAVLinkInterface.cs
@@ -2388,6 +2388,21 @@ public bool doDFUBoot(byte sysid, byte compid)
             return true;
         }
 
+        /// <summary>
+        /// Control high latency mode
+        /// </summary>
+        /// <param name="onoff">true to enable, false to disable</param>
+        /// <returns></returns>
+        public bool doHighLatency(bool onoff= false)
+        {
+            int param1 = onoff ? 1 : 0;
+
+            var ans1 = doCommand((byte)sysidcurrent, (byte)compidcurrent, MAV_CMD.CONTROL_HIGH_LATENCY,
+                    param1, 0, 0, 0, 0, 0, 0);
+
+            return ans1;
+        }
+
         /// <summary>
         /// reboot the vehicle
         /// </summary>

diff --git a/GCSViews/FlightData.cs b/GCSViews/FlightData.cs
@@ -180,7 +180,9 @@ public enum actions
             Battery_Reset,
             ADSB_Out_Ident,
             Scripting_cmd_stop_and_restart,
-            Scripting_cmd_stop
+            Scripting_cmd_stop,
+            HighLatency_Enable,
+            HighLatency_Disable
         }
 
         private Dictionary<int, string> NIC_table = new Dictionary<int, string>()
@@ -1710,6 +1712,18 @@ private void BUTactiondo_Click(object sender, EventArgs e)
                         ((Control) sender).Enabled = true;
                         return;
                     }
+                    if (CMB_action.Text == actions.HighLatency_Enable.ToString())
+                    {
+                        MainV2.comPort.doHighLatency(true);
+                        ((Control)sender).Enabled = true;
+                        return;
+                    }
+                    if (CMB_action.Text == actions.HighLatency_Disable.ToString())
+                    {
+                        MainV2.comPort.doHighLatency(false);
+                        ((Control)sender).Enabled = true;
+                        return;
+                    }
 
                     if (CMB_action.Text == actions.Battery_Reset.ToString())
                     {