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Commander: Only change flight mode immediately if GCS requested it

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This commit is contained in:
Lorenz Meier 2016-04-24 11:54:50 +02:00
parent 2244ff167f
commit 588133e85d
2 changed files with 15 additions and 9 deletions
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16
src/modules/commander/commander.cpp
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@ -675,14 +675,20 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
// doing something sensible with the coordinates. Its designed
// to not require navigator and command to receive / process
// the data at the exact same time.
transition_result_t main_ret = main_state_transition(status_local, commander_state_s::MAIN_STATE_AUTO_LOITER, main_state_prev, &status_flags, &internal_state);
if ((main_ret != TRANSITION_DENIED)) {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
// Check if a mode switch had been requested
if ((((uint8_t)cmd->param1) & 1) > 0) {
transition_result_t main_ret = main_state_transition(status_local, commander_state_s::MAIN_STATE_AUTO_LOITER, main_state_prev, &status_flags, &internal_state);
if ((main_ret != TRANSITION_DENIED)) {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
mavlink_log_critical(&mavlink_log_pub, "Rejecting reposition command");
}
} else {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
mavlink_log_critical(&mavlink_log_pub, "Rejecting reposition command");
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
}
}
break;

8
src/modules/navigator/navigator_main.cpp
View File

@ -419,25 +419,25 @@ Navigator::task_main()
rep->previous.alt = get_global_position()->alt;
// Go on and check which changes had been requested
if (isfinite(cmd.param4)) {
if (PX4_ISFINITE(cmd.param4)) {
rep->current.yaw = cmd.param4;
} else {
rep->current.yaw = NAN;
}
if (isfinite(cmd.param5)) {
if (PX4_ISFINITE(cmd.param5)) {
rep->current.lat = cmd.param5 / (double)1e7;
} else {
rep->current.lat = get_global_position()->lat;
}
if (isfinite(cmd.param6)) {
if (PX4_ISFINITE(cmd.param6)) {
rep->current.lon = cmd.param6 / (double)1e7;
} else {
rep->current.lon = get_global_position()->lon;
}
if (isfinite(cmd.param7)) {
if (PX4_ISFINITE(cmd.param7)) {
rep->current.alt = cmd.param7;
} else {
rep->current.alt = get_global_position()->alt;