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commander: consider COM_MOT_TEST_EN for COMMAND_ACTUATOR_TEST as well

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Beat Küng
2021-12-15 09:11:42 +01:00
committed by Daniel Agar
parent 39d441317a
commit 8e04934eab
1 changed files with 4 additions and 0 deletions
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src/modules/commander/Commander.cpp
+4
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@@ -1508,6 +1508,10 @@ Commander::handle_command_actuator_test(const vehicle_command_s &cmd)
return vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
}
if (_param_com_mot_test_en.get() != 1) {
return vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
}
actuator_test_s actuator_test{};
actuator_test.timestamp = hrt_absolute_time();
actuator_test.function = (int)(cmd.param5 + 0.5);