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kconfig: Add option to enable figure of eight support

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This commit is contained in:
Konrad
2023-07-14 13:49:04 +02:00
committed by Daniel Agar
parent e5e66370e7
commit 8edd7ce2c1
10 changed files with 88 additions and 14 deletions
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src/modules/commander/Commander.cpp
+6
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@@ -1116,6 +1116,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
break;
case vehicle_command_s::VEHICLE_CMD_DO_FIGUREEIGHT: {
#ifdef CONFIG_FIGURE_OF_EIGHT
if (!((_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) || (_vehicle_status.is_vtol))) {
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
@@ -1142,6 +1143,11 @@ Commander::handle_command(const vehicle_command_s &cmd)
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
mavlink_log_critical(&_mavlink_log_pub, "Figure 8 command rejected, Only available in fixed wing mode.");
}
#else
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
mavlink_log_critical(&_mavlink_log_pub, "Figure 8 command not supported.");
#endif // CONFIG_FIGURE_OF_EIGHT
}
break;