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Navigator: Support transition command and digicam command in missions

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This commit is contained in:
Lorenz Meier
2016-01-11 08:19:00 +01:00
committed by Andreas Antener
parent e1125ce9d3
commit 77782bd254
3 changed files with 72 additions and 21 deletions
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src/modules/navigator/mission_feasibility_checker.cpp
+4 -1
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@@ -50,6 +50,7 @@
#include <fcntl.h>
#include <errno.h>
#include <uORB/topics/fence.h>
#include <uORB/topics/vehicle_command.h>
MissionFeasibilityChecker::MissionFeasibilityChecker() :
_mavlink_fd(-1),
@@ -199,7 +200,9 @@ bool MissionFeasibilityChecker::checkMissionItemValidity(dm_item_t dm_current, s
missionitem.nav_cmd != NAV_CMD_TAKEOFF &&
missionitem.nav_cmd != NAV_CMD_PATHPLANNING &&
missionitem.nav_cmd != NAV_CMD_DO_JUMP &&
missionitem.nav_cmd != NAV_CMD_DO_SET_SERVO) {
missionitem.nav_cmd != NAV_CMD_DO_SET_SERVO &&
missionitem.nav_cmd != vehicle_command_s::VEHICLE_CMD_DO_DIGICAM_CONTROL &&
missionitem.nav_cmd != vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION) {
mavlink_log_critical(_mavlink_fd, "Rejecting mission item %i: unsupported action.", (int)(i+1));
return false;