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commander: use printRejectMode() also for rtl, takeoff, land & mission commands

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This commit is contained in:
Beat Küng
2022-10-13 08:59:38 +02:00
committed by Daniel Agar
parent d542ffc10c
commit 3c290d812d
1 changed files with 6 additions and 31 deletions
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src/modules/commander/Commander.cpp
+6 -31
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@@ -968,12 +968,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_log_critical(&_mavlink_log_pub, "Return to launch denied\t");
/* EVENT
* @description Check for a valid position estimate
*/
events::send(events::ID("commander_rtl_denied"), {events::Log::Critical, events::LogInternal::Info},
"Return to launch denied");
printRejectMode(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL);
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
}
@@ -985,12 +980,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_log_critical(&_mavlink_log_pub, "Takeoff denied!\t");
/* EVENT
* @description Check for a valid position estimate
*/
events::send(events::ID("commander_takeoff_denied"), {events::Log::Critical, events::LogInternal::Info},
"Takeoff denied!");
printRejectMode(vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF);
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
}
@@ -1003,7 +993,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_log_critical(&_mavlink_log_pub, "VTOL Takeoff denied! Please disarm and retry");
printRejectMode(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF);
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
@@ -1017,12 +1007,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_log_critical(&_mavlink_log_pub, "Landing denied! Please land manually\t");
/* EVENT
* @description Check for a valid position estimate
*/
events::send(events::ID("commander_landing_current_pos_denied"), {events::Log::Critical, events::LogInternal::Info},
"Landing denied! Please land manually");
printRejectMode(vehicle_status_s::NAVIGATION_STATE_AUTO_LAND);
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
}
@@ -1036,12 +1021,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_log_critical(&_mavlink_log_pub, "Precision landing denied! Please land manually\t");
/* EVENT
* @description Check for a valid position estimate
*/
events::send(events::ID("commander_landing_prec_land_denied"), {events::Log::Critical, events::LogInternal::Info},
"Precision landing denied! Please land manually");
printRejectMode(vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND);
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
}
@@ -1064,13 +1044,8 @@ Commander::handle_command(const vehicle_command_s &cmd)
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
printRejectMode(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION);
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
mavlink_log_critical(&_mavlink_log_pub, "Mission start denied\t");
/* EVENT
* @description Check for a valid position estimate
*/
events::send(events::ID("commander_mission_start_denied"), {events::Log::Critical, events::LogInternal::Info},
"Mission start denied");
}
}