fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

commander: answer to VEHICLE_CMD_DO_ORBIT

Browse Source
This commit is contained in:
Beat Küng 2019-10-21 12:13:04 +02:00
parent bc09a872fa
commit f7b04d5cbc
1 changed files with 5 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
src/modules/commander/Commander.cpp
View File

@ -1077,7 +1077,11 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_
case vehicle_command_s::VEHICLE_CMD_DO_ORBIT:
// Switch to orbit state and let the orbit task handle the command further
main_state_transition(*status_local, commander_state_s::MAIN_STATE_ORBIT, status_flags, &internal_state);
if (TRANSITION_DENIED != main_state_transition(*status_local, commander_state_s::MAIN_STATE_ORBIT, status_flags, &internal_state)) {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
break;
case vehicle_command_s::VEHICLE_CMD_DO_MOTOR_TEST: