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| author | Simon Wilks <sjwilks@gmail.com> | 2013-08-19 22:06:56 +0200 |
|---|---|---|
| committer | Simon Wilks <sjwilks@gmail.com> | 2013-08-19 22:06:56 +0200 |
| commit | ecc5019a359b1f8284b02c21947ce6bd0f1dbb0f (patch) | |
| tree | a2157847c2bf78d282bffc64767fa128629364b4 /src/modules/commander/commander.cpp | |
| parent | 32b6f623082fcb167effa8ae2f1ebcd26557f6d2 (diff) | |
| parent | 1e96633907f46bffeefbb6c3c913266e667d5a13 (diff) | |
| download | px4-firmware-ecc5019a359b1f8284b02c21947ce6bd0f1dbb0f.tar.gz px4-firmware-ecc5019a359b1f8284b02c21947ce6bd0f1dbb0f.tar.bz2 px4-firmware-ecc5019a359b1f8284b02c21947ce6bd0f1dbb0f.zip | |
Merge branch 'fmuv2_bringup_new_state_machine_drton' of https://github.com/cvg/Firmware_Private into fmuv2_bringup_new_state_machine_drton
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 98aab8788..d2455794a 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -399,16 +399,21 @@ 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; } |