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Commander: Switch flight mode so reposition commands can get applied

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This commit is contained in:
Lorenz Meier
2016-04-23 20:12:27 +02:00
parent 05aae9410c
commit 711053fd76
1 changed files with 17 additions and 0 deletions
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src/modules/commander/commander.cpp
+17
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@@ -669,6 +669,23 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
/* request to set different system mode */
switch (cmd->command) {
case vehicle_command_s::VEHICLE_CMD_DO_REPOSITION: {
// Just switch the flight mode here, the navigator takes care of
// doing something sensible with the coordinates. Its designed
// to not require navigator and command to receive / process
// the data at the exact same time.
transition_result_t main_ret = main_state_transition(status_local, commander_state_s::MAIN_STATE_AUTO_LOITER, main_state_prev, &status_flags, &internal_state);
if ((main_ret != TRANSITION_DENIED)) {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
mavlink_log_critical(&mavlink_log_pub, "Rejecting reposition command");
}
}
break;
case vehicle_command_s::VEHICLE_CMD_DO_SET_MODE: {
uint8_t base_mode = (uint8_t)cmd->param1;
uint8_t custom_main_mode = (uint8_t)cmd->param2;