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Commander: Add transition command

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This commit is contained in:
Lorenz Meier
2016-06-15 20:42:56 +02:00
parent e8274d3ddb
commit 9230688f54
1 changed files with 24 additions and 1 deletions
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src/modules/commander/commander.cpp
+24 -1
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@@ -441,6 +441,29 @@ int commander_main(int argc, char *argv[])
return 0;
}
if (!strcmp(argv[1], "transition")) {
vehicle_command_s cmd = {};
cmd.target_system = status.system_id;
cmd.target_component = status.component_id;
cmd.command = vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION;
/* transition to the other mode */
cmd.param1 = (status.is_rotary_wing) ? vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW : vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
/* param 2-3 unused */
cmd.param2 = NAN;
cmd.param3 = NAN;
cmd.param4 = NAN;
cmd.param5 = NAN;
cmd.param6 = NAN;
cmd.param7 = NAN;
orb_advert_t h = orb_advertise(ORB_ID(vehicle_command), &cmd);
(void)orb_unadvertise(h);
return 0;
}
if (!strcmp(argv[1], "mode")) {
if (argc > 2) {
uint8_t new_main_state = commander_state_s::MAIN_STATE_MAX;
@@ -513,7 +536,7 @@ void usage(const char *reason)
PX4_INFO("%s", reason);
}
PX4_INFO("usage: commander {start|stop|status|calibrate|check|arm|disarm|takeoff|land|mode}\n");
PX4_INFO("usage: commander {start|stop|status|calibrate|check|arm|disarm|takeoff|land|transition|mode}\n");
}
void print_status()