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Commander: Fix the takeoff and land commands. Fixes #4516

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This commit is contained in:
Lorenz Meier
2016-05-13 22:05:46 +02:00
parent 503966165b
commit 7d66435546
1 changed files with 19 additions and 16 deletions
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src/modules/commander/commander.cpp
+19 -16
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@@ -437,15 +437,17 @@ int commander_main(int argc, char *argv[])
cmd.target_component = status.component_id;
cmd.command = vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF;
// cmd.param1 = 0.25f; /* minimum pitch */
// /* param 2-3 unused */
// cmd.param4 = home_position.yaw;
// cmd.param5 = home_position.lat;
// cmd.param6 = home_position.lon;
// cmd.param7 = home_position.alt;
cmd.param1 = NAN; /* minimum pitch */
/* param 2-3 unused */
cmd.param2 = NAN;
cmd.param3 = NAN;
cmd.param4 = NAN;
cmd.param5 = NAN;
cmd.param6 = NAN;
cmd.param7 = NAN;
// XXX inspect use of publication handle
(void)orb_advertise(ORB_ID(vehicle_command), &cmd);
orb_advert_t h = orb_advertise(ORB_ID(vehicle_command), &cmd);
(void)orb_unadvertise(h);
} else {
warnx("arming failed");
@@ -465,15 +467,16 @@ int commander_main(int argc, char *argv[])
cmd.target_component = status.component_id;
cmd.command = vehicle_command_s::VEHICLE_CMD_NAV_LAND;
// cmd.param1 = 0.25f; /* minimum pitch */
// /* param 2-3 unused */
// cmd.param4 = home_position.yaw;
// cmd.param5 = home_position.lat;
// cmd.param6 = home_position.lon;
// cmd.param7 = home_position.alt;
/* param 2-3 unused */
cmd.param2 = NAN;
cmd.param3 = NAN;
cmd.param4 = NAN;
cmd.param5 = NAN;
cmd.param6 = NAN;
cmd.param7 = NAN;
// XXX inspect use of publication handle
(void)orb_advertise(ORB_ID(vehicle_command), &cmd);
orb_advert_t h = orb_advertise(ORB_ID(vehicle_command), &cmd);
(void)orb_unadvertise(h);
return 0;
}