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commander: ignore internal commands during calibration

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if vmount was enabled in mavlink mode, it was continuously sending mavlink
commmands, which lead to 'command denied during calibration: 205' messages
during calibration.
This commit is contained in:
Beat Küng
2017-10-02 13:39:56 +02:00
parent 29e85edac8
commit 2dd34d639d
1 changed files with 14 additions and 12 deletions
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src/modules/commander/calibration_routines.cpp
+14 -12
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@@ -839,19 +839,21 @@ bool calibrate_cancel_check(orb_advert_t *mavlink_log_pub, int cancel_sub)
orb_copy(ORB_ID(vehicle_command), cancel_sub, &cmd);
if (cmd.command == vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION &&
(int)cmd.param1 == 0 &&
(int)cmd.param2 == 0 &&
(int)cmd.param3 == 0 &&
(int)cmd.param4 == 0 &&
(int)cmd.param5 == 0 &&
(int)cmd.param6 == 0) {
calibrate_answer_command(mavlink_log_pub, cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
mavlink_log_critical(mavlink_log_pub, CAL_QGC_CANCELLED_MSG);
return true;
if (cmd.from_external) { // ignore internal commands, such as VEHICLE_CMD_DO_MOUNT_CONTROL from vmount
if (cmd.command == vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION &&
(int)cmd.param1 == 0 &&
(int)cmd.param2 == 0 &&
(int)cmd.param3 == 0 &&
(int)cmd.param4 == 0 &&
(int)cmd.param5 == 0 &&
(int)cmd.param6 == 0) {
calibrate_answer_command(mavlink_log_pub, cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
mavlink_log_critical(mavlink_log_pub, CAL_QGC_CANCELLED_MSG);
return true;
} else {
calibrate_answer_command(mavlink_log_pub, cmd, vehicle_command_s::VEHICLE_CMD_RESULT_DENIED);
} else {
calibrate_answer_command(mavlink_log_pub, cmd, vehicle_command_s::VEHICLE_CMD_RESULT_DENIED);
}
}
}