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Commander:fill missing command ack. (#4814)

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Henry Zhang 2016-06-21 16:20:33 +08:00 committed by Lorenz Meier
parent 847d9ec4f4
commit 178f32ab41
1 changed files with 14 additions and 3 deletions
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17
src/modules/commander/commander.cpp
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@ -813,9 +813,8 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
// Flick to inair restore first if this comes from an onboard system
if (cmd->source_system == status_local->system_id && cmd->source_component == status_local->component_id) {
status.arming_state = vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE;
}
else {
} else {
// Refuse to arm if preflight checks have failed
if ((!status_local->hil_state) != vehicle_status_s::HIL_STATE_ON && !status_flags.condition_system_sensors_initialized) {
mavlink_log_critical(&mavlink_log_pub, "Arming DENIED. Preflight checks have failed.");
@ -1014,6 +1013,13 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
res = main_state_transition(status_local, main_state_pre_offboard, main_state_prev, &status_flags, &internal_state);
status_flags.offboard_control_set_by_command = false;
}
if (res == TRANSITION_DENIED) {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
} else {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
}
}
break;
@ -1021,19 +1027,24 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
/* ok, home set, use it to take off */
if (TRANSITION_CHANGED == main_state_transition(&status, commander_state_s::MAIN_STATE_AUTO_TAKEOFF, main_state_prev, &status_flags, &internal_state)) {
mavlink_and_console_log_info(&mavlink_log_pub, "Taking off");
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_and_console_log_critical(&mavlink_log_pub, "Takeoff denied, disarm and re-try");
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
}
break;
case vehicle_command_s::VEHICLE_CMD_NAV_LAND: {
/* ok, home set, use it to take off */
if (TRANSITION_CHANGED == main_state_transition(&status, commander_state_s::MAIN_STATE_AUTO_LAND, main_state_prev, &status_flags, &internal_state)) {
mavlink_and_console_log_info(&mavlink_log_pub, "Landing at current position");
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_and_console_log_critical(&mavlink_log_pub, "Landing denied, land manually.");
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
}