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GCS_MAVLink: handle MAV_CMD_DO_SET_SAFETY_SWITCH_STATE

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Peter Barker 2024-02-17 10:08:03 +11:00 committed by Peter Barker
parent 0aee2a436c
commit 0fe9027b23
2 changed files with 24 additions and 0 deletions
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2
libraries/GCS_MAVLink/GCS.h
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@ -595,6 +595,8 @@ protected:
void deadlock_sem(void); void deadlock_sem(void);
#endif #endif
MAV_RESULT handle_do_set_safety_switch_state(const mavlink_command_int_t &packet, const mavlink_message_t &msg);
// reset a message interval via mavlink: // reset a message interval via mavlink:
MAV_RESULT handle_command_set_message_interval(const mavlink_command_int_t &packet); MAV_RESULT handle_command_set_message_interval(const mavlink_command_int_t &packet);
MAV_RESULT handle_command_get_message_interval(const mavlink_command_int_t &packet); MAV_RESULT handle_command_get_message_interval(const mavlink_command_int_t &packet);

22
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -5133,6 +5133,25 @@ MAV_RESULT GCS_MAVLINK::handle_command_storage_format(const mavlink_command_int_
} }
#endif #endif
MAV_RESULT GCS_MAVLINK::handle_do_set_safety_switch_state(const mavlink_command_int_t &packet, const mavlink_message_t &msg)
{
switch ((SAFETY_SWITCH_STATE)packet.param1) {
case SAFETY_SWITCH_STATE_DANGEROUS:
// turn safety off (pwm outputs flow to the motors)
hal.rcout->force_safety_off();
return MAV_RESULT_ACCEPTED;
case SAFETY_SWITCH_STATE_SAFE:
// turn safety on (no pwm outputs to the motors)
if (hal.rcout->force_safety_on()) {
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
default:
return MAV_RESULT_DENIED;
}
}
MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &packet, const mavlink_message_t &msg) MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &packet, const mavlink_message_t &msg)
{ {
switch (packet.command) { switch (packet.command) {
@ -5290,6 +5309,9 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN: case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
return handle_preflight_reboot(packet, msg); return handle_preflight_reboot(packet, msg);
case MAV_CMD_DO_SET_SAFETY_SWITCH_STATE:
return handle_do_set_safety_switch_state(packet, msg);
#if AP_MAVLINK_SERVO_RELAY_ENABLED #if AP_MAVLINK_SERVO_RELAY_ENABLED
case MAV_CMD_DO_SET_SERVO: case MAV_CMD_DO_SET_SERVO:
case MAV_CMD_DO_REPEAT_SERVO: case MAV_CMD_DO_REPEAT_SERVO: