diff options
Diffstat (limited to 'src')
-rw-r--r-- | src/modules/commander/commander.cpp | 16 |
1 files changed, 7 insertions, 9 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index e010c233f..1c11e2587 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -219,7 +219,7 @@ void print_status(); 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); -transition_result_t armDisarm(bool arm, const int mavlink_fd, const char* armedBy); +transition_result_t arm_disarm(bool arm, const int mavlink_fd, const char* armedBy); /** * Loop that runs at a lower rate and priority for calibration and parameter tasks. @@ -287,12 +287,12 @@ int commander_main(int argc, char *argv[]) } if (!strcmp(argv[1], "arm")) { - armDisarm(true, mavlink_fd, "command line"); + arm_disarm(true, mavlink_fd, "command line"); exit(0); } if (!strcmp(argv[1], "2")) { - armDisarm(false, mavlink_fd, "command line"); + arm_disarm(false, mavlink_fd, "command line"); exit(0); } @@ -362,7 +362,7 @@ void print_status() static orb_advert_t status_pub; -transition_result_t armDisarm(bool arm, const int mavlink_fd, const char* armedBy) +transition_result_t arm_disarm(bool arm, const int mavlink_fd, const char* armedBy) { transition_result_t arming_res = TRANSITION_NOT_CHANGED; @@ -370,9 +370,7 @@ transition_result_t armDisarm(bool arm, const int mavlink_fd, const char* armedB // output appropriate error messages if the state cannot transition. arming_res = arming_state_transition(&status, &safety, arm ? ARMING_STATE_ARMED : ARMING_STATE_STANDBY, &armed, mavlink_fd); if (arming_res == TRANSITION_CHANGED && mavlink_fd) { - char buf[256]; - snprintf(buf, sizeof(buf), "[cmd] %s by %s", arm ? "ARMED" : "DISARMED", armedBy); - mavlink_log_info(mavlink_fd, buf); + mavlink_log_info(mavlink_fd, "[cmd] %s by %s", arm ? "ARMED" : "DISARMED", armedBy); } else if (arming_res == TRANSITION_DENIED) { tune_negative(true); } @@ -416,7 +414,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe ret = true; // Transition the arming state - arming_res = armDisarm(base_mode & MAV_MODE_FLAG_SAFETY_ARMED, mavlink_fd, "set mode command"); + arming_res = arm_disarm(base_mode & MAV_MODE_FLAG_SAFETY_ARMED, mavlink_fd, "set mode command"); if (arming_res == TRANSITION_CHANGED) ret = true; @@ -480,7 +478,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe return VEHICLE_CMD_RESULT_UNSUPPORTED; } - transition_result_t arming_res = armDisarm(cmd->param1 == 1.0f, mavlink_fd, "arm/disarm component command"); + transition_result_t arming_res = arm_disarm(cmd->param1 == 1.0f, mavlink_fd, "arm/disarm component command"); if (arming_res == TRANSITION_DENIED) { mavlink_log_critical(mavlink_fd, "#audio: REJECTING component arm cmd"); result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; |