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Added missing Defaults to VEHICLE_CMD_DO_SET_MODE (#26291)

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* Added missing Defaults to VEHICLE_CMD_DO_SET_MODE

* Made Format
This commit is contained in:
Loic Fernau
2026-01-28 17:36:21 +01:00
committed by GitHub
parent bd6b0699cc
commit b7d9876cd9
1 changed files with 12 additions and 0 deletions
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src/modules/commander/Commander.cpp
+12
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@@ -917,6 +917,12 @@ Commander::handle_command(const vehicle_command_s &cmd)
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_OFFBOARD) { } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_OFFBOARD) {
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_OFFBOARD; desired_nav_state = vehicle_status_s::NAVIGATION_STATE_OFFBOARD;
} else {
main_ret = TRANSITION_DENIED;
mavlink_log_critical(&_mavlink_log_pub, "Unsupported main mode\t");
events::send(events::ID("commander_unsupported_main_mode"), events::Log::Error,
"Unsupported main mode");
} }
} else { } else {
@@ -934,6 +940,12 @@ Commander::handle_command(const vehicle_command_s &cmd)
} else { } else {
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_MANUAL; desired_nav_state = vehicle_status_s::NAVIGATION_STATE_MANUAL;
} }
} else {
main_ret = TRANSITION_DENIED;
mavlink_log_critical(&_mavlink_log_pub, "Unsupported base mode\t");
events::send(events::ID("commander_unsupported_base_mode"), events::Log::Error,
"Unsupported base mode");
} }
} }