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Commander: Avoid sending ack for VEHICLE_CMD_CONTROL_HIGH_LATENCY if from_external is false

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acfloria
2018-05-27 12:11:35 -04:00
committed by Daniel Agar
parent d8cf012641
commit 12f6affdfa
1 changed files with 4 additions and 1 deletions
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src/modules/commander/commander.cpp
+4 -1
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@@ -1021,7 +1021,10 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_
break; break;
case vehicle_command_s::VEHICLE_CMD_CONTROL_HIGH_LATENCY: { case vehicle_command_s::VEHICLE_CMD_CONTROL_HIGH_LATENCY: {
// only send the acknowledge from the commander, the command actually is handled by each mavlink instance // only send the acknowledge from the commander, the command actually is handled by each mavlink instance
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED; // only send the acknowledge if the command is received from an external source
if (cmd.from_external) {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
}
} }
break; break;