fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

remove partial CMD_OVERRIDE_GOTO implementation (#7356)

Browse Source 
- closes #7326
This commit is contained in:
Daniel Agar 2017-06-08 22:03:50 -04:00 committed by GitHub
parent 3b7e57a5b2
commit 8d5c955af4
2 changed files with 0 additions and 33 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
msg/vehicle_command.msg
View File

@ -56,7 +56,6 @@ uint32 PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION = 3 # param value for VEHI
uint32 VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS = 242 # Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units|
uint32 VEHICLE_CMD_PREFLIGHT_STORAGE = 245 # Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty|
uint32 VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN = 246 # Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty|
uint32 VEHICLE_CMD_OVERRIDE_GOTO = 252 # Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position|
uint32 VEHICLE_CMD_MISSION_START = 300 # start running a mission |first_item: the first mission item to run| last_item: the last mission item to run (after this item is run, the mission ends)|
uint32 VEHICLE_CMD_COMPONENT_ARM_DISARM = 400 # Arms / Disarms a component |1 to arm, 0 to disarm|
uint32 VEHICLE_CMD_START_RX_PAIR = 500 # Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX|

32
src/modules/commander/commander.cpp
View File

@ -945,38 +945,6 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
}
break;
case vehicle_command_s::VEHICLE_CMD_OVERRIDE_GOTO: {
// TODO listen vehicle_command topic directly from navigator (?)
// Increase by 0.5f and rely on the integer cast
// implicit floor(). This is the *safest* way to
// convert from floats representing small ints to actual ints.
unsigned int mav_goto = (cmd->param1 + 0.5f);
if (mav_goto == 0) { // MAV_GOTO_DO_HOLD
status_local->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER;
mavlink_log_critical(&mavlink_log_pub, "Pause mission cmd");
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else if (mav_goto == 1) { // MAV_GOTO_DO_CONTINUE
status_local->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION;
mavlink_log_critical(&mavlink_log_pub, "Continue mission cmd");
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_log_critical(&mavlink_log_pub, "REJ CMD: %.1f %.1f %.1f %.1f %.1f %.1f %.1f",
(double)cmd->param1,
(double)cmd->param2,
(double)cmd->param3,
(double)cmd->param4,
(double)cmd->param5,
(double)cmd->param6,
(double)cmd->param7);
}
}
break;
/* Flight termination */
case vehicle_command_s::VEHICLE_CMD_DO_FLIGHTTERMINATION: {
if (cmd->param1 > 1.5f) {
armed_local->lockdown = true;