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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-05-06 14:57:06 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-05-06 14:57:06 +0200 |
| commit | 1d6b9fae037422f4c61bdd7ee1a5ea0803a59726 (patch) | |
| tree | de9eee67d075d1e5b04746e40d14dc16bebd09db /src/modules/commander/commander.cpp | |
| parent | 13ad95169f1da852f0a641e270669f2f4f3c5ece (diff) | |
| download | px4-firmware-1d6b9fae037422f4c61bdd7ee1a5ea0803a59726.tar.gz px4-firmware-1d6b9fae037422f4c61bdd7ee1a5ea0803a59726.tar.bz2 px4-firmware-1d6b9fae037422f4c61bdd7ee1a5ea0803a59726.zip | |
Fix in-air restarts, protect against an external MAVLink sender exploiting the restart mechanism
Diffstat (limited to 'src/modules/commander/commander.cpp')
| -rw-r--r-- | src/modules/commander/commander.cpp | 5 |
1 files changed, 5 insertions, 0 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 53ed34f46..141b371b3 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -484,6 +484,11 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe if (cmd->param1 != 0.0f && (fabsf(cmd->param1 - 1.0f) > 2.0f * FLT_EPSILON)) { mavlink_log_info(mavlink_fd, "Unsupported ARM_DISARM parameter: %.6f", cmd->param1); } else { + + // Flick to inair restore first if this comes from an onboard system + if (cmd->source_system == status->system_id && cmd->source_component == status->component_id) { + status->arming_state = ARMING_STATE_IN_AIR_RESTORE; + } transition_result_t arming_res = arm_disarm(cmd->param1 != 0.0f, mavlink_fd, "arm/disarm component command"); if (arming_res == TRANSITION_DENIED) { mavlink_log_critical(mavlink_fd, "#audio: REJECTING component arm cmd"); |