Merge branch 'master' into beta

1 files changed, 46 insertions, 7 deletions

diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 901f91911..d318c7017 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -153,6 +153,11 @@ static bool on_usb_power = false;
 
 static float takeoff_alt = 5.0f;
 
+static struct vehicle_status_s status;
+static struct actuator_armed_s armed;
+static struct safety_s safety;
+static struct vehicle_control_mode_s control_mode;
+
 /* tasks waiting for low prio thread */
 typedef enum {
 	LOW_PRIO_TASK_NONE = 0,
@@ -211,6 +216,11 @@ void print_reject_arm(const char *msg);
 
 void print_status();
 
+int arm();
+int disarm();
+
+transition_result_t check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_control_mode_s *control_mode, struct vehicle_local_position_s *local_pos);
+
 /**
  * Loop that runs at a lower rate and priority for calibration and parameter tasks.
  */
@@ -236,7 +246,7 @@ int commander_main(int argc, char *argv[])
 		daemon_task = task_spawn_cmd("commander",
 					     SCHED_DEFAULT,
 					     SCHED_PRIORITY_MAX - 40,
-					     3000,
+					     2088,
 					     commander_thread_main,
 					     (argv) ? (const char **)&argv[2] : (const char **)NULL);
 
@@ -276,6 +286,16 @@ int commander_main(int argc, char *argv[])
 		exit(0);
 	}
 
+	if (!strcmp(argv[1], "arm")) {
+		arm();
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "disarm")) {
+		disarm();
+		exit(0);
+	}
+
 	usage("unrecognized command");
 	exit(1);
 }
@@ -342,6 +362,30 @@ void print_status()
 
 static orb_advert_t status_pub;
 
+int arm()
+{
+	int arming_res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed);
+
+	if (arming_res == TRANSITION_CHANGED) {
+		mavlink_log_info(mavlink_fd, "[cmd] ARMED by commandline");
+		return 0;
+	} else {
+		return 1;
+	}
+}
+
+int disarm()
+{
+	int arming_res = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed);
+
+	if (arming_res == TRANSITION_CHANGED) {
+		mavlink_log_info(mavlink_fd, "[cmd] ARMED by commandline");
+		return 0;
+	} else {
+		return 1;
+	}
+}
+
 bool handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_command_s *cmd, struct actuator_armed_s *armed)
 {
 	/* result of the command */
@@ -556,11 +600,6 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 
 }
 
-static struct vehicle_status_s status;
-static struct vehicle_control_mode_s control_mode;
-static struct actuator_armed_s armed;
-static struct safety_s safety;
-
 int commander_thread_main(int argc, char *argv[])
 {
 	/* not yet initialized */
@@ -672,7 +711,7 @@ int commander_thread_main(int argc, char *argv[])
 
 	pthread_attr_t commander_low_prio_attr;
 	pthread_attr_init(&commander_low_prio_attr);
-	pthread_attr_setstacksize(&commander_low_prio_attr, 2992);
+	pthread_attr_setstacksize(&commander_low_prio_attr, 1728);
 
 	struct sched_param param;
 	(void)pthread_attr_getschedparam(&commander_low_prio_attr, &param);