fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-26 03:53:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
Nicolas de Palezieux
2017-11-27 15:43:39 -05:00
committed by Daniel Agar
parent ed7f333fe8
commit a6ae1fbcaa
2 changed files with 4 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/commander.cpp
+2
View File
@@ -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_START:
case vehicle_command_s::VEHICLE_CMD_LOGGING_STOP: case vehicle_command_s::VEHICLE_CMD_LOGGING_STOP:
case vehicle_command_s::VEHICLE_CMD_NAV_DELAY: 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 */ /* ignore commands that are handled by other parts of the system */
break; break;
src/modules/navigator/navigator_main.cpp
+2 -1
View File
@@ -525,7 +525,8 @@ Navigator::task_main()
// TODO: handle responses for supported DO_CHANGE_SPEED options? // TODO: handle responses for supported DO_CHANGE_SPEED options?
publish_vehicle_command_ack(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED); 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 = {};
_vroi.mode = cmd.param1; _vroi.mode = cmd.param1;