diff options
Diffstat (limited to 'src/modules/commander/commander.cpp')
| -rw-r--r-- | src/modules/commander/commander.cpp | 22 |
1 files changed, 18 insertions, 4 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index e992706ac..d2f8c2994 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -76,6 +76,7 @@ #include <uORB/topics/parameter_update.h> #include <uORB/topics/differential_pressure.h> #include <uORB/topics/safety.h> +#include <uORB/topics/mission.h> #include <uORB/topics/mission_result.h> #include <drivers/drv_led.h> @@ -89,6 +90,7 @@ #include <systemlib/cpuload.h> #include <systemlib/rc_check.h> #include <systemlib/state_table.h> +#include <dataman/dataman.h> #include "px4_custom_mode.h" #include "commander_helper.h" @@ -691,6 +693,11 @@ int commander_thread_main(int argc, char *argv[]) /* publish initial state */ status_pub = orb_advertise(ORB_ID(vehicle_status), &status); + if (status_pub < 0) { + warnx("ERROR: orb_advertise for topic vehicle_status failed (uorb app running?).\n"); + warnx("exiting."); + exit(ERROR); + } /* armed topic */ orb_advert_t armed_pub; @@ -708,10 +715,17 @@ int commander_thread_main(int argc, char *argv[]) struct home_position_s home; memset(&home, 0, sizeof(home)); - if (status_pub < 0) { - warnx("ERROR: orb_advertise for topic vehicle_status failed (uorb app running?).\n"); - warnx("exiting."); - exit(ERROR); + /* init mission state */ + mission_s mission; + if (dm_read(DM_KEY_MISSION_STATE, 0, &mission, sizeof(mission_s)) == sizeof(mission_s)) { + if (mission.dataman_id >= 0 && mission.dataman_id <= 1) { + mavlink_log_info(mavlink_fd, "[cmd] dataman ID: %i, count: %u, current: %i", + mission.dataman_id, mission.count, mission.current_index); + orb_advert_t mission_pub = orb_advertise(ORB_ID(offboard_mission), &mission); + close(mission_pub); + } else { + mavlink_log_info(mavlink_fd, "[cmd] reading mission state failed"); + } } mavlink_log_info(mavlink_fd, "[cmd] started"); |