Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-06 06:43:21 +08:00
Code Issues Actions 30 Packages Projects Releases Wiki Activity

commander: make sure all code paths return an (n)ack to MAV_CMD_PREFLIGHT_CALIBRATION

Browse Source
This commit is contained in:
Beat Küng
2017-01-11 14:39:21 +01:00
parent 8cd913c148
commit 48c5ec54bb
1 changed files with 3 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/commander.cpp
+3 -2
View File
@@ -4024,14 +4024,15 @@ void *commander_low_prio_loop(void *arg)
} else if ((int)(cmd.param4) == 0) {
/* RC calibration ended - have we been in one worth confirming? */
if (status_flags.rc_input_blocked) {
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED, command_ack_pub, command_ack);
/* enable RC control input */
status_flags.rc_input_blocked = false;
mavlink_log_info(&mavlink_log_pub, "CAL: Re-enabling RC IN");
calib_ret = OK;
}
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED, command_ack_pub, command_ack);
/* this always succeeds */
calib_ret = OK;
} else {
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_UNSUPPORTED, command_ack_pub, command_ack);
}
status_flags.condition_calibration_enabled = false;