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vehicle command ROI: do not erroneously report command unsupported; handle VEHICLE_CMD_DO_SET_ROI and VEHICLE_CMD_NAV_ROI identically (#8377)

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This commit is contained in:
Nicolas de Palezieux 2017-11-27 21:43:39 +01:00 committed by Daniel Agar
parent ed7f333fe8
commit a6ae1fbcaa
2 changed files with 4 additions and 1 deletions
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2
src/modules/commander/commander.cpp
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@ -1195,6 +1195,8 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
case vehicle_command_s::VEHICLE_CMD_LOGGING_START:
case vehicle_command_s::VEHICLE_CMD_LOGGING_STOP:
case vehicle_command_s::VEHICLE_CMD_NAV_DELAY:
case vehicle_command_s::VEHICLE_CMD_DO_SET_ROI:
case vehicle_command_s::VEHICLE_CMD_NAV_ROI:
/* ignore commands that are handled by other parts of the system */
break;

3
src/modules/navigator/navigator_main.cpp
View File

@ -525,7 +525,8 @@ Navigator::task_main()
// TODO: handle responses for supported DO_CHANGE_SPEED options?
publish_vehicle_command_ack(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_SET_ROI) {
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_SET_ROI
|| cmd.command == vehicle_command_s::VEHICLE_CMD_NAV_ROI) {
_vroi = {};
_vroi.mode = cmd.param1;