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commander add mode argument

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This commit is contained in:
Daniel Agar
2016-03-12 12:23:31 +01:00
committed by Lorenz Meier
parent 65947346eb
commit f944ac7e26
1 changed files with 42 additions and 1 deletions
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src/modules/commander/commander.cpp
+42 -1
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@@ -471,6 +471,47 @@ int commander_main(int argc, char *argv[])
return 0;
}
if (!strcmp(argv[1], "mode")) {
if (argc > 2) {
uint8_t new_main_state = vehicle_status_s::MAIN_STATE_MAX;
if (!strcmp(argv[2], "manual")) {
new_main_state = vehicle_status_s::MAIN_STATE_MANUAL;
} else if (!strcmp(argv[2], "altctl")) {
new_main_state = vehicle_status_s::MAIN_STATE_ALTCTL;
} else if (!strcmp(argv[2], "posctl")) {
new_main_state = vehicle_status_s::MAIN_STATE_POSCTL;
} else if (!strcmp(argv[2], "auto:mission")) {
new_main_state = vehicle_status_s::MAIN_STATE_AUTO_MISSION;
} else if (!strcmp(argv[2], "auto:loiter")) {
new_main_state = vehicle_status_s::MAIN_STATE_AUTO_LOITER;
} else if (!strcmp(argv[2], "auto:rtl")) {
new_main_state = vehicle_status_s::MAIN_STATE_AUTO_RTL;
} else if (!strcmp(argv[2], "acro")) {
new_main_state = vehicle_status_s::MAIN_STATE_ACRO;
} else if (!strcmp(argv[2], "offboard")) {
new_main_state = vehicle_status_s::MAIN_STATE_OFFBOARD;
} else if (!strcmp(argv[2], "stabilized")) {
new_main_state = vehicle_status_s::MAIN_STATE_STAB;
} else if (!strcmp(argv[2], "rattitude")) {
new_main_state = vehicle_status_s::MAIN_STATE_RATTITUDE;
} else if (!strcmp(argv[2], "auto:takeoff")) {
new_main_state = vehicle_status_s::MAIN_STATE_AUTO_TAKEOFF;
} else if (!strcmp(argv[2], "auto:land")) {
new_main_state = vehicle_status_s::MAIN_STATE_AUTO_LAND;
} else {
warnx("argument %s unsupported.", argv[2]);
}
if (TRANSITION_DENIED == main_state_transition(&status, new_main_state)) {
warnx("mode change failed");
}
return 0;
} else {
warnx("missing argument");
}
}
if (!strcmp(argv[1], "lockdown")) {
if (argc < 3) {
@@ -505,7 +546,7 @@ void usage(const char *reason)
PX4_INFO("%s", reason);
}
PX4_INFO("usage: commander {start|stop|status|calibrate|check|arm|disarm}\n");
PX4_INFO("usage: commander {start|stop|status|calibrate|check|arm|disarm|takeoff|land|mode}\n");
}
void print_status()