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Commander: Support landing through commandline

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Lorenz Meier
2015-12-28 16:00:32 +01:00
parent 6c04ab970b
commit ea1439c627
1 changed files with 33 additions and 0 deletions
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src/modules/commander/commander.cpp
+33
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@@ -446,6 +446,28 @@ int commander_main(int argc, char *argv[])
return 0;
}
if (!strcmp(argv[1], "land")) {
int mavlink_fd_local = px4_open(MAVLINK_LOG_DEVICE, 0);
vehicle_command_s cmd = {};
cmd.target_system = status.system_id;
cmd.target_component = status.component_id;
cmd.command = vehicle_command_s::VEHICLE_CMD_NAV_LAND;
// cmd.param1 = 0.25f; /* minimum pitch */
// /* param 2-3 unused */
// cmd.param4 = home_position.yaw;
// cmd.param5 = home_position.lat;
// cmd.param6 = home_position.lon;
// cmd.param7 = home_position.alt;
// XXX inspect use of publication handle
(void)orb_advertise(ORB_ID(vehicle_command), &cmd);
px4_close(mavlink_fd_local);
return 0;
}
usage("unrecognized command");
return 1;
}
@@ -890,6 +912,17 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
}
break;
case vehicle_command_s::VEHICLE_CMD_NAV_LAND: {
/* ok, home set, use it to take off */
if (TRANSITION_CHANGED == main_state_transition(&status, vehicle_status_s::MAIN_STATE_AUTO_LAND)) {
warnx("landing!");
} else {
warnx("landing denied");
}
}
break;
case vehicle_command_s::VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
case vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION:
case vehicle_command_s::VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS: