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commander: CMD_NAV_LAND/CMD_NAV_PRECLAND reply RESULT_ACCEPTED unless transition is denied

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This commit is contained in:
Daniel Agar
2020-12-15 10:41:26 -05:00
committed by Lorenz Meier
parent 80068093d6
commit 49d4cc7d5b
1 changed files with 3 additions and 3 deletions
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src/modules/commander/Commander.cpp
+3 -3
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@@ -893,7 +893,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
break; break;
case vehicle_command_s::VEHICLE_CMD_NAV_LAND: { case vehicle_command_s::VEHICLE_CMD_NAV_LAND: {
if (TRANSITION_CHANGED == main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_LAND, _status_flags, if (TRANSITION_DENIED != main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_LAND, _status_flags,
&_internal_state)) { &_internal_state)) {
mavlink_log_info(&_mavlink_log_pub, "Landing at current position"); mavlink_log_info(&_mavlink_log_pub, "Landing at current position");
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED; cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
@@ -906,8 +906,8 @@ Commander::handle_command(const vehicle_command_s &cmd)
break; break;
case vehicle_command_s::VEHICLE_CMD_NAV_PRECLAND: { case vehicle_command_s::VEHICLE_CMD_NAV_PRECLAND: {
if (TRANSITION_CHANGED == main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_PRECLAND, if (TRANSITION_DENIED != main_state_transition(_status, commander_state_s::MAIN_STATE_AUTO_PRECLAND, _status_flags,
_status_flags, &_internal_state)) { &_internal_state)) {
mavlink_log_info(&_mavlink_log_pub, "Precision landing"); mavlink_log_info(&_mavlink_log_pub, "Precision landing");
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED; cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;