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parse flighttermination command

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This commit is contained in:
Thomas Gubler
2014-07-19 14:39:41 +02:00
parent de0dd71061
commit 0b743a9f5c
2 changed files with 9 additions and 13 deletions
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21
src/modules/commander/commander.cpp
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@@ -546,24 +546,19 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
}
break;
#if 0
/* Flight termination */
case VEHICLE_CMD_DO_SET_SERVO: { //xxx: needs its own mavlink command
//XXX: to enable the parachute, a param needs to be set
//xxx: for safety only for now, param3 is unused by VEHICLE_CMD_DO_SET_SERVO
if (armed_local->armed && cmd->param3 > 0.5 && parachute_enabled) {
transition_result_t failsafe_res = failsafe_state_transition(status, FAILSAFE_STATE_TERMINATION);
cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
case VEHICLE_CMD_DO_FLIGHTTERMINATION: {
if (cmd->param1 > 0.5f) {
//XXX update state machine?
armed_local->force_failsafe = true;
warnx("forcing failsafe");
} else {
/* reject parachute depoyment not armed */
cmd_result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
armed_local->force_failsafe = false;
warnx("disabling failsafe");
}
cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
}
break;
#endif
case VEHICLE_CMD_DO_SET_HOME: {
bool use_current = cmd->param1 > 0.5f;