From 36a8f3f45a5085fd7de16fa23f2df4c2389c5f02 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 17 Feb 2016 16:50:13 +0100 Subject: [PATCH] Commander: Ignore speed commands --- src/modules/commander/commander.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 8a5f08e2b5..aee9899db2 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1023,6 +1023,7 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s case vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION: case vehicle_command_s::VEHICLE_CMD_DO_DIGICAM_CONTROL: case vehicle_command_s::VEHICLE_CMD_DO_SET_CAM_TRIGG_DIST: + case vehicle_command_s::VEHICLE_CMD_DO_CHANGE_SPEED: /* ignore commands that handled in low prio loop */ break; @@ -3472,11 +3473,12 @@ void *commander_low_prio_loop(void *arg) /* if we reach here, we have a valid command */ orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd); - /* ignore commands the high-prio loop handles */ + /* ignore commands the high-prio loop or the navigator handles */ if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_SET_MODE || cmd.command == vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM || cmd.command == vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF || - cmd.command == vehicle_command_s::VEHICLE_CMD_DO_SET_SERVO) { + cmd.command == vehicle_command_s::VEHICLE_CMD_DO_SET_SERVO || + cmd.command == vehicle_command_s::VEHICLE_CMD_DO_CHANGE_SPEED) { continue; }