Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

GCS_MAVLink: handle MAV_CMD_DO_SET_SAFETY_SWITCH_STATE

This commit is contained in:
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/GCS_MAVLink/GCS.h
View File

@ -595,6 +595,8 @@ protected:
void deadlock_sem(void);
#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:
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);

22
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -5133,6 +5133,25 @@ MAV_RESULT GCS_MAVLINK::handle_command_storage_format(const mavlink_command_int_
}
#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)
{
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:
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
case MAV_CMD_DO_SET_SERVO:
case MAV_CMD_DO_REPEAT_SERVO: