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Fix in-air restarts, protect against an external MAVLink sender exploiting the restart mechanism

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Lorenz Meier
2014-05-06 14:57:06 +02:00
parent 13ad95169f
commit 1d6b9fae03
3 changed files with 31 additions and 4 deletions
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src/modules/commander/commander.cpp
+5
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@@ -484,6 +484,11 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
if (cmd->param1 != 0.0f && (fabsf(cmd->param1 - 1.0f) > 2.0f * FLT_EPSILON)) {
mavlink_log_info(mavlink_fd, "Unsupported ARM_DISARM parameter: %.6f", cmd->param1);
} else {
// Flick to inair restore first if this comes from an onboard system
if (cmd->source_system == status->system_id && cmd->source_component == status->component_id) {
status->arming_state = ARMING_STATE_IN_AIR_RESTORE;
}
transition_result_t arming_res = arm_disarm(cmd->param1 != 0.0f, mavlink_fd, "arm/disarm component command");
if (arming_res == TRANSITION_DENIED) {
mavlink_log_critical(mavlink_fd, "#audio: REJECTING component arm cmd");