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commander, multirotor_pos_control, sdlog2: bugfixes

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Anton Babushkin
2013-08-19 18:33:04 +02:00
parent f96bb824d4
commit 449dc78ae6
7 changed files with 197 additions and 102 deletions
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src/modules/commander/commander.cpp
+11 -6
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@@ -353,16 +353,21 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe
}
case VEHICLE_CMD_NAV_TAKEOFF: {
transition_result_t nav_res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_TAKEOFF, control_mode);
if (armed->armed) {
transition_result_t nav_res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_TAKEOFF, control_mode);
if (nav_res == TRANSITION_CHANGED) {
mavlink_log_info(mavlink_fd, "[cmd] TAKEOFF on command");
}
if (nav_res == TRANSITION_CHANGED) {
mavlink_log_info(mavlink_fd, "[cmd] TAKEOFF on command");
}
if (nav_res != TRANSITION_DENIED) {
result = VEHICLE_CMD_RESULT_ACCEPTED;
if (nav_res != TRANSITION_DENIED) {
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
} else {
/* reject TAKEOFF not armed */
result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}