Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-12 19:50:41 +08:00
Code Issues Actions 12 Packages Projects Releases Wiki Activity

Merge branch 'master' into mpc_rc

Browse Source
This commit is contained in:
Anton Babushkin
2014-04-20 20:10:39 +02:00
parent 88149311ea 0b85c41cd1
commit 8634780e80
225 changed files with 10782 additions and 234 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/commander.cpp
+7 -2
View File
@@ -396,6 +396,11 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
enum VEHICLE_CMD_RESULT result = VEHICLE_CMD_RESULT_UNSUPPORTED;
bool ret = false;
/* only handle commands that are meant to be handled by this system and component */
if (cmd->target_system != status->system_id || ((cmd->target_component != status->component_id) && (cmd->target_component != 0))) { // component_id 0: valid for all components
return false;
}
/* only handle high-priority commands here */
/* request to set different system mode */
@@ -633,11 +638,11 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
break;
default:
/* warn about unsupported commands */
/* Warn about unsupported commands, this makes sense because only commands
* to this component ID (or all) are passed by mavlink. */
answer_command(*cmd, VEHICLE_CMD_RESULT_UNSUPPORTED);
break;
}
if (result != VEHICLE_CMD_RESULT_UNSUPPORTED) {
/* already warned about unsupported commands in "default" case */
answer_command(*cmd, result);