diff options
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; } |