From e2e4ab45a0caf03f651d87f7ce99177e40717c4b Mon Sep 17 00:00:00 2001
From: davidsastresas <davidsastresas@gmail.com>
Date: Wed, 4 Oct 2023 18:33:09 +0200
Subject: [PATCH] Vehicle: add sendMavCommandDelayed() function

---
 src/Vehicle/Vehicle.cc | 5 +++++
 src/Vehicle/Vehicle.h  | 1 +
 2 files changed, 6 insertions(+)

diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index a808339..4150cf5 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -2983,6 +2983,11 @@ void Vehicle::sendMavCommand(int compId, MAV_CMD command, bool showError, float
                           param1, param2, param3, param4, param5, param6, param7);
 }
 
+void Vehicle::sendMavCommandDelayed(int compId, MAV_CMD command, bool showError, int milliseconds, float param1, float param2, float param3, float param4, float param5, float param6, float param7)
+{
+    QTimer::singleShot(milliseconds, this, [=] { sendMavCommand(compId, command, showError, param1, param2, param3, param4, param5, param6, param7); });
+}
+
 void Vehicle::sendCommand(int compId, int command, bool showError, double param1, double param2, double param3, double param4, double param5, double param6, double param7)
 {
     sendMavCommand(
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index 87bf0b2..2fa0b44 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -744,6 +744,7 @@ public:
     ///     @param showError true: Display error to user if command failed, false:  no error shown
     /// Signals: mavCommandResult on success or failure
     void sendMavCommand(int compId, MAV_CMD command, bool showError, 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);
+    void sendMavCommandDelayed(int compId, MAV_CMD command, bool showError, int milliseconds, 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);
     void sendMavCommandInt(int compId, MAV_CMD command, MAV_FRAME frame, bool showError, float param1, float param2, float param3, float param4, double param5, double param6, float param7);
 
     ///