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commander: handle VEHICLE_CMD_RUN_PREARM_CHECKS

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This commit is contained in:
Beat Küng
2022-08-25 22:02:15 -04:00
committed by Daniel Agar
parent 8f9be0541f
commit 406b0bbc86
2 changed files with 6 additions and 0 deletions
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msg/vehicle_command.msg
+1
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@@ -75,6 +75,7 @@ uint16 VEHICLE_CMD_MISSION_START = 300 # start running a mission |first_item:
uint16 VEHICLE_CMD_ACTUATOR_TEST = 310 # Actuator testing command|value [-1,1]|timeout [s]|Empty|Empty|output function|
uint16 VEHICLE_CMD_CONFIGURE_ACTUATOR = 311 # Actuator configuration command|configuration|Empty|Empty|Empty|output function|
uint16 VEHICLE_CMD_COMPONENT_ARM_DISARM = 400 # Arms / Disarms a component |1 to arm, 0 to disarm
uint16 VEHICLE_CMD_RUN_PREARM_CHECKS = 401 # Instructs a target system to run pre-arm checks.
uint16 VEHICLE_CMD_INJECT_FAILURE = 420 # Inject artificial failure for testing purposes
uint16 VEHICLE_CMD_START_RX_PAIR = 500 # Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX|
uint16 VEHICLE_CMD_REQUEST_MESSAGE = 512 # Request to send a single instance of the specified message
src/modules/commander/Commander.cpp
+5
View File
@@ -1584,6 +1584,11 @@ Commander::handle_command(const vehicle_command_s &cmd)
break;
}
case vehicle_command_s::VEHICLE_CMD_RUN_PREARM_CHECKS:
_health_and_arming_checks.update(true);
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
break;
case vehicle_command_s::VEHICLE_CMD_START_RX_PAIR:
case vehicle_command_s::VEHICLE_CMD_CUSTOM_0:
case vehicle_command_s::VEHICLE_CMD_CUSTOM_1: