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Commander: Fixed takeoff command, made feedback less verbose

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Lorenz Meier
2015-11-21 22:20:13 +01:00
parent a521066a0d
commit e5dc027833
1 changed files with 2 additions and 2 deletions
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src/modules/commander/commander.cpp
+2 -2
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@@ -418,6 +418,8 @@ int commander_main(int argc, char *argv[])
/* see if we got a home position */ /* see if we got a home position */
if (status.condition_home_position_valid) { if (status.condition_home_position_valid) {
vehicle_command_s cmd = {}; vehicle_command_s cmd = {};
cmd.target_system = status.system_id;
cmd.target_component = status.component_id;
cmd.command = vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF; cmd.command = vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF;
// cmd.param1 = 0.25f; /* minimum pitch */ // cmd.param1 = 0.25f; /* minimum pitch */
@@ -2086,7 +2088,6 @@ int commander_thread_main(int argc, char *argv[])
} else { } else {
/* the mission is valid */ /* the mission is valid */
tune_mission_ok(true); tune_mission_ok(true);
warnx("mission ok");
} }
/* prevent further feedback until the mission changes */ /* prevent further feedback until the mission changes */
@@ -2428,7 +2429,6 @@ int commander_thread_main(int argc, char *argv[])
// TODO handle mode changes by commands // TODO handle mode changes by commands
if (main_state_changed || nav_state_changed) { if (main_state_changed || nav_state_changed) {
status_changed = true; status_changed = true;
mavlink_log_info(mavlink_fd, "Flight mode: %s", nav_states_str[status.nav_state]);
main_state_changed = false; main_state_changed = false;
} }