From 48c5ec54bbfd5be1d57f102526803e144d526f86 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Wed, 11 Jan 2017 14:39:21 +0100 Subject: [PATCH] commander: make sure all code paths return an (n)ack to MAV_CMD_PREFLIGHT_CALIBRATION --- src/modules/commander/commander.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 261397bb50..40cf15c189 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -4024,14 +4024,15 @@ void *commander_low_prio_loop(void *arg) } else if ((int)(cmd.param4) == 0) { /* RC calibration ended - have we been in one worth confirming? */ if (status_flags.rc_input_blocked) { - answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED, command_ack_pub, command_ack); /* enable RC control input */ status_flags.rc_input_blocked = false; mavlink_log_info(&mavlink_log_pub, "CAL: Re-enabling RC IN"); - calib_ret = OK; } + answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED, command_ack_pub, command_ack); /* this always succeeds */ calib_ret = OK; + } else { + answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_UNSUPPORTED, command_ack_pub, command_ack); } status_flags.condition_calibration_enabled = false;