From a58fab96a83f0d1c516f89e42333e1ffc4c9d4fe Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 26 Oct 2023 12:48:04 +1100
Subject: [PATCH] Vehicle: add sendMavCommandIntWithHandler

equivalent to the non-int function, allows a caller to specify a callback when ACK is received
---
 src/Vehicle/Vehicle.cc | 12 ++++++++++++
 src/Vehicle/Vehicle.h  |  5 +++++
 2 files changed, 17 insertions(+)

diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index 3d2a361..a82fa79 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -3006,6 +3006,18 @@ void Vehicle::sendMavCommandInt(int compId, MAV_CMD command, MAV_FRAME frame, bo
                           param1, param2, param3, param4, param5, param6, param7);
 }
 
+void Vehicle::sendMavCommandIntWithHandler(MavCmdResultHandler resultHandler, void *resultHandlerData, int compId, MAV_CMD command, MAV_FRAME frame, float param1, float param2, float param3, float param4, double param5, double param6, float param7)
+{
+    _sendMavCommandWorker(true,                   // commandInt
+                          false,                  // showError
+                          resultHandler,
+                          resultHandlerData,
+                          compId,
+                          command,
+                          frame,
+                          param1, param2, param3, param4, param5, param6, param7);
+}
+
 bool Vehicle::isMavCommandPending(int targetCompId, MAV_CMD command)
 {
     return ((-1) < _findMavCommandListEntryIndex(targetCompId, command));
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index d929708..1eb292f 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -774,6 +774,11 @@ public:
     ///     @param resultHandleData Opaque data passed through callback
     void sendMavCommandWithHandler(MavCmdResultHandler resultHandler, void* resultHandlerData, int compId, MAV_CMD command, float param1 = 0.0f, float param2 = 0.0f, float param3 = 0.0f, float param4 = 0.0f, float param5 = 0.0f, float param6 = 0.0f, float param7 = 0.0f);
 
+    /// Sends the command and calls the callback with the result
+    ///     @param resultHandler    Callback for result, nullptr for no callback
+    ///     @param resultHandleData Opaque data passed through callback
+    void sendMavCommandIntWithHandler(MavCmdResultHandler resultHandler, void* resultHandlerData, int compId, MAV_CMD command, MAV_FRAME frame, float param1 = 0.0f, float param2 = 0.0f, float param3 = 0.0f, float param4 = 0.0f, double param5 = 0.0f, double param6 = 0.0f, float param7 = 0.0f);
+
     typedef enum {
         RequestMessageNoFailure,
         RequestMessageFailureCommandError,