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Rover: GCS invoked RTL returns failed when set-mode fails

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This commit is contained in:
Randy Mackay 2018-11-12 15:26:38 +09:00
parent c59b2c156a
commit 1069ab0860
1 changed files with 9 additions and 5 deletions
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10
APMrover2/GCS_Mavlink.cpp
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@ -642,12 +642,16 @@ MAV_RESULT GCS_MAVLINK_Rover::handle_command_long_packet(const mavlink_command_l
switch (packet.command) { switch (packet.command) {
case MAV_CMD_NAV_RETURN_TO_LAUNCH: case MAV_CMD_NAV_RETURN_TO_LAUNCH:
rover.set_mode(rover.mode_rtl, MODE_REASON_GCS_COMMAND); if (rover.set_mode(rover.mode_rtl, MODE_REASON_GCS_COMMAND)) {
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
case MAV_CMD_MISSION_START: case MAV_CMD_MISSION_START:
rover.set_mode(rover.mode_auto, MODE_REASON_GCS_COMMAND); if (rover.set_mode(rover.mode_auto, MODE_REASON_GCS_COMMAND)) {
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
case MAV_CMD_COMPONENT_ARM_DISARM: case MAV_CMD_COMPONENT_ARM_DISARM:
if (is_equal(packet.param1, 1.0f)) { if (is_equal(packet.param1, 1.0f)) {
@ -725,7 +729,7 @@ MAV_RESULT GCS_MAVLINK_Rover::handle_command_long_packet(const mavlink_command_l
// exit if vehicle is not in Guided mode // exit if vehicle is not in Guided mode
if (rover.control_mode != &rover.mode_guided) { if (rover.control_mode != &rover.mode_guided) {
return MAV_RESULT_UNSUPPORTED; return MAV_RESULT_FAILED;
} }
// send yaw change and target speed to guided mode controller // send yaw change and target speed to guided mode controller