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commander: implement external modes and mode executors

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This commit is contained in:
Beat Küng
2023-11-15 13:18:58 +01:00
parent 58d2badf9f
commit fbbccf6997
32 changed files with 1632 additions and 51 deletions
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src/modules/mavlink/mavlink_command_sender.cpp
+2 -1
View File
@@ -68,7 +68,8 @@ MavlinkCommandSender::~MavlinkCommandSender()
int MavlinkCommandSender::handle_vehicle_command(const vehicle_command_s &command, mavlink_channel_t channel)
{
// commands > uint16 are PX4 internal only
if (command.command >= vehicle_command_s::VEHICLE_CMD_PX4_INTERNAL_START) {
if (command.command >= vehicle_command_s::VEHICLE_CMD_PX4_INTERNAL_START
|| command.source_component >= vehicle_command_s::COMPONENT_MODE_EXECUTOR_START) {
return 0;
}
src/modules/mavlink/mavlink_main.cpp
+2 -1
View File
@@ -2357,7 +2357,8 @@ Mavlink::task_main(int argc, char *argv[])
if (!command_ack.from_external
&& command_ack.command < vehicle_command_s::VEHICLE_CMD_PX4_INTERNAL_START
&& is_target_known) {
&& is_target_known
&& command_ack.target_component < vehicle_command_s::COMPONENT_MODE_EXECUTOR_START) {
mavlink_command_ack_t msg{};
msg.result = command_ack.result;