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commander: handle VEHICLE_CMD_NAV_GUIDED_ENABLE

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Thomas Gubler
2014-07-14 11:19:06 +02:00
parent 373b1705c1
commit 747eda92b9
1 changed files with 18 additions and 1 deletions
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src/modules/commander/commander.cpp
+18 -1
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@@ -611,7 +611,24 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
}
}
break;
case VEHICLE_CMD_NAV_GUIDED_ENABLE: {
transition_result_t res = TRANSITION_DENIED;
static main_state_t main_state_pre_offboard = MAIN_STATE_MANUAL;
if (status_local->main_state != MAIN_STATE_OFFBOARD) {
main_state_pre_offboard = status_local->main_state;
}
if (cmd->param1 > 0.5f) {
res = main_state_transition(status_local, MAIN_STATE_OFFBOARD);
if (res == TRANSITION_DENIED) {
print_reject_mode(status_local, "OFFBOARD");
}
} else {
/* If the mavlink command is used to enable or disable offboard control:
* switch back to previous mode when disabling */
res = main_state_transition(status_local, main_state_pre_offboard);
}
}
break;
case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
case VEHICLE_CMD_PREFLIGHT_CALIBRATION:
case VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS: