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Commander: Ignore speed commands

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This commit is contained in:
Lorenz Meier
2016-03-13 18:09:04 +01:00
parent f73148e98d
commit 36a8f3f45a
1 changed files with 4 additions and 2 deletions
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src/modules/commander/commander.cpp
+4 -2
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@@ -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_VTOL_TRANSITION:
case vehicle_command_s::VEHICLE_CMD_DO_DIGICAM_CONTROL: 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_SET_CAM_TRIGG_DIST:
case vehicle_command_s::VEHICLE_CMD_DO_CHANGE_SPEED:
/* ignore commands that handled in low prio loop */ /* ignore commands that handled in low prio loop */
break; break;
@@ -3472,11 +3473,12 @@ void *commander_low_prio_loop(void *arg)
/* if we reach here, we have a valid command */ /* if we reach here, we have a valid command */
orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd); 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 || 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_COMPONENT_ARM_DISARM ||
cmd.command == vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF || 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; continue;
} }