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Commander: Improve handling and generating of VEHICLE_CMD_CONTROL_HIGH_LATENCY

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acfloria 2018-03-15 09:05:04 +01:00 committed by Beat Küng
parent da57dbbce0
commit 443a4016af
1 changed files with 10 additions and 0 deletions
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10
src/modules/commander/commander.cpp
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@ -1075,6 +1075,7 @@ Commander::handle_command(vehicle_status_s *status_local,
case vehicle_command_s::VEHICLE_CMD_DO_SET_ROI_LOCATION:
case vehicle_command_s::VEHICLE_CMD_DO_SET_ROI_WPNEXT_OFFSET:
case vehicle_command_s::VEHICLE_CMD_DO_SET_ROI_NONE:
case vehicle_command_s::VEHICLE_CMD_CONTROL_HIGH_LATENCY:
/* ignore commands that are handled by other parts of the system */
break;
@ -2606,6 +2607,10 @@ Commander::run()
vehicle_command_s vehicle_cmd;
vehicle_cmd.command = vehicle_command_s::VEHICLE_CMD_CONTROL_HIGH_LATENCY;
vehicle_cmd.param1 = 0.0f;
vehicle_cmd.from_external = false;
vehicle_cmd.target_system = status.system_id;
vehicle_cmd.target_component = 0;
if (vehicle_cmd_pub != nullptr) {
orb_publish(ORB_ID(vehicle_command), vehicle_cmd_pub, &vehicle_cmd);
@ -2618,9 +2623,14 @@ Commander::run()
// low latency telemetry lost and high latency link existing
status.high_latency_data_link_active = true;
status_changed = true;
vehicle_command_s vehicle_cmd;
vehicle_cmd.command = vehicle_command_s::VEHICLE_CMD_CONTROL_HIGH_LATENCY;
vehicle_cmd.param1 = 1.0f;
vehicle_cmd.from_external = false;
vehicle_cmd.target_system = status.system_id;
vehicle_cmd.target_component = 0;
if (vehicle_cmd_pub != nullptr) {
orb_publish(ORB_ID(vehicle_command), vehicle_cmd_pub, &vehicle_cmd);