From f7b04d5cbc87f4736653b8169477ef75b09fe38c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Mon, 21 Oct 2019 12:13:04 +0200 Subject: [PATCH] commander: answer to VEHICLE_CMD_DO_ORBIT --- src/modules/commander/Commander.cpp | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index 0f9cfbc789..457d4641d9 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -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: