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Reworked control interface, needs testing / validation

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This commit is contained in:
Lorenz Meier
2012-09-19 18:53:29 +02:00
parent b0b72b11eb
commit 291f4f3a33
12 changed files with 165 additions and 64 deletions
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apps/commander/commander.c
+25
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@@ -742,6 +742,31 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
}
break;
case PX4_CMD_CONTROLLER_SELECTION: {
bool changed = false;
if ((int)cmd->param1 != (int)current_vehicle_status->flag_control_rates_enabled) {
current_vehicle_status->flag_control_rates_enabled = cmd->param1;
changed = true;
}
if ((int)cmd->param2 != (int)current_vehicle_status->flag_control_attitude_enabled) {
current_vehicle_status->flag_control_attitude_enabled = cmd->param2;
changed = true;
}
if ((int)cmd->param3 != (int)current_vehicle_status->flag_control_velocity_enabled) {
current_vehicle_status->flag_control_velocity_enabled = cmd->param3;
changed = true;
}
if ((int)cmd->param4 != (int)current_vehicle_status->flag_control_position_enabled) {
current_vehicle_status->flag_control_position_enabled = cmd->param4;
changed = true;
}
if (changed) {
/* publish current state machine */
state_machine_publish(status_pub, current_vehicle_status, mavlink_fd);
}
}
// /* request to land */
// case MAV_CMD_NAV_LAND:
// {