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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-08-19 18:33:04 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-08-19 18:33:04 +0200 |
| commit | 449dc78ae69e888d986185f120aa8c6549ef5c2b (patch) | |
| tree | 9b3de04f5b287c32ec9c7cfe6094ead84ba980d3 /src/modules/commander/commander.cpp | |
| parent | f96bb824d4fc6f6d36ddf24e8879d3025af39d70 (diff) | |
| download | px4-firmware-449dc78ae69e888d986185f120aa8c6549ef5c2b.tar.gz px4-firmware-449dc78ae69e888d986185f120aa8c6549ef5c2b.tar.bz2 px4-firmware-449dc78ae69e888d986185f120aa8c6549ef5c2b.zip | |
commander, multirotor_pos_control, sdlog2: bugfixes
Diffstat (limited to 'src/modules/commander/commander.cpp')
| -rw-r--r-- | src/modules/commander/commander.cpp | 17 |
1 files changed, 11 insertions, 6 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 7d74e0cfe..50acec7e0 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -353,16 +353,21 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe } case VEHICLE_CMD_NAV_TAKEOFF: { - transition_result_t nav_res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_TAKEOFF, control_mode); + if (armed->armed) { + transition_result_t nav_res = navigation_state_transition(status, NAVIGATION_STATE_AUTO_TAKEOFF, control_mode); - if (nav_res == TRANSITION_CHANGED) { - mavlink_log_info(mavlink_fd, "[cmd] TAKEOFF on command"); - } + if (nav_res == TRANSITION_CHANGED) { + mavlink_log_info(mavlink_fd, "[cmd] TAKEOFF on command"); + } - if (nav_res != TRANSITION_DENIED) { - result = VEHICLE_CMD_RESULT_ACCEPTED; + if (nav_res != TRANSITION_DENIED) { + result = VEHICLE_CMD_RESULT_ACCEPTED; + } else { + result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; + } } else { + /* reject TAKEOFF not armed */ result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; } |