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commander: check for ack when calling 'commander takeoff'

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This commit is contained in:
Beat Küng
2022-08-25 22:02:15 -04:00
committed by Daniel Agar
parent 406b0bbc86
commit c7b64e3c01
1 changed files with 27 additions and 5 deletions
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src/modules/commander/Commander.cpp
+27 -5
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@@ -192,6 +192,24 @@ static bool send_vehicle_command(const uint32_t cmd, const float param1 = NAN, c
return vcmd_pub.publish(vcmd); return vcmd_pub.publish(vcmd);
} }
static bool wait_for_vehicle_command_reply(const uint32_t cmd,
uORB::SubscriptionData<vehicle_command_ack_s> &vehicle_command_ack_sub)
{
hrt_abstime start = hrt_absolute_time();
while (hrt_absolute_time() - start < 100_ms) {
if (vehicle_command_ack_sub.update()) {
if (vehicle_command_ack_sub.get().command == cmd) {
return vehicle_command_ack_sub.get().result == vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
}
}
px4_usleep(10000);
}
return false;
}
static bool broadcast_vehicle_command(const uint32_t cmd, const float param1 = NAN, const float param2 = NAN, static bool broadcast_vehicle_command(const uint32_t cmd, const float param1 = NAN, const float param2 = NAN,
const float param3 = NAN, const float param4 = NAN, const double param5 = static_cast<double>(NAN), const float param3 = NAN, const float param4 = NAN, const double param5 = static_cast<double>(NAN),
const double param6 = static_cast<double>(NAN), const float param7 = NAN) const double param6 = static_cast<double>(NAN), const float param7 = NAN)
@@ -338,10 +356,14 @@ int Commander::custom_command(int argc, char *argv[])
if (!strcmp(argv[0], "takeoff")) { if (!strcmp(argv[0], "takeoff")) {
// switch to takeoff mode and arm // switch to takeoff mode and arm
uORB::SubscriptionData<vehicle_command_ack_s> vehicle_command_ack_sub{ORB_ID(vehicle_command_ack)};
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF); send_vehicle_command(vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF);
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM,
static_cast<float>(vehicle_command_s::ARMING_ACTION_ARM), if (wait_for_vehicle_command_reply(vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF, vehicle_command_ack_sub)) {
0.f); send_vehicle_command(vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM,
static_cast<float>(vehicle_command_s::ARMING_ACTION_ARM),
0.f);
}
return 0; return 0;
} }
@@ -1190,12 +1212,12 @@ Commander::handle_command(const vehicle_command_s &cmd)
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED; cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else { } else {
mavlink_log_critical(&_mavlink_log_pub, "Takeoff denied! Please disarm and retry\t"); mavlink_log_critical(&_mavlink_log_pub, "Takeoff denied!\t");
/* EVENT /* EVENT
* @description Check for a valid position estimate * @description Check for a valid position estimate
*/ */
events::send(events::ID("commander_takeoff_denied"), {events::Log::Critical, events::LogInternal::Info}, events::send(events::ID("commander_takeoff_denied"), {events::Log::Critical, events::LogInternal::Info},
"Takeoff denied! Please disarm and retry"); "Takeoff denied!");
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
} }
} }