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commander: add VEHICLE_CMD_SET_NAV_STATE internal command

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Beat Küng
2022-12-05 14:47:55 +01:00
parent af62227a83
commit c99330e6db
2 changed files with 13 additions and 0 deletions
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src/modules/commander/Commander.cpp
+12
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@@ -852,6 +852,18 @@ Commander::handle_command(const vehicle_command_s &cmd)
}
break;
case vehicle_command_s::VEHICLE_CMD_SET_NAV_STATE: { // Used from ROS
uint8_t desired_nav_state = (uint8_t)(cmd.param1 + 0.5f);
if (_user_mode_intention.change(desired_nav_state, getSourceFromCommand(cmd))) {
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
}
break;
case vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM: {
// Adhere to MAVLink specs, but base on knowledge that these fundamentally encode ints