From a6ae1fbcaa0b936119eca5694df75dc794bbd604 Mon Sep 17 00:00:00 2001 From: Nicolas de Palezieux Date: Mon, 27 Nov 2017 21:43:39 +0100 Subject: [PATCH] vehicle command ROI: do not erroneously report command unsupported; handle VEHICLE_CMD_DO_SET_ROI and VEHICLE_CMD_NAV_ROI identically (#8377) --- src/modules/commander/commander.cpp | 2 ++ src/modules/navigator/navigator_main.cpp | 3 ++- 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index ce4a9d61bf..429e0c1af0 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -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; diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 5e1cb4b8aa..4b3dcba346 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -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;