From 24dcbe1b0eed38926bc4766c453afb93b138f41a Mon Sep 17 00:00:00 2001
From: Pat Hickey <pat@moreproductive.org>
Date: Tue, 9 Oct 2012 18:48:05 -0700
Subject: [PATCH] ArduCopter GCS_MAVLink: COMMAND_LONG for arm/disarm motors

Date: Wed, 26 Sep 2012 15:56:43 -0700
Subject: ArduCopter arm/disarm command consensus
From: Pat Hickey
To: Michael Oborne
Cc: "Craig J. Elder", arducopter
<arducopter@googlegroups.com>,
    mavelous <mavelous@googlegroups.com>

    Michael,

    Per our discussion today,

    In a MAVLINK_MSG_ID_COMMAND_LONG
    A MAV_CMD of type MAV_CMD_COMPONENT_ARM_DISARM
    with component id MAV_COMP_ID_SYSTEM_CONTROL = 250,
    uses param index 1 to specify an arm/disarm motors event: 1 to arm,
    0 to disarm

    Thanks for working this out with me. Sorry to get it so completely
    wrong the first time around!

    Best
    Pat
---
 ArduCopter/GCS_Mavlink.pde | 16 +++++++++++++++-
 1 file changed, 15 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index ea69ad80f7..4049c42c59 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -1074,7 +1074,21 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             result = MAV_RESULT_ACCEPTED;
             break;
 
-
+        case MAV_CMD_COMPONENT_ARM_DISARM:
+            if (packet.target_component == MAV_COMP_ID_SYSTEM_CONTROL) {
+                if (packet.param1 == 1.0f) {
+                    init_arm_motors();
+                    result = MAV_RESULT_ACCEPTED;
+                } else if (packet.param1 == 0.0f)  {
+                    init_disarm_motors();
+                    result = MAV_RESULT_ACCEPTED;
+                } else {
+                    result = MAV_RESULT_UNSUPPORTED;
+                }
+            } else {
+                result = MAV_RESULT_UNSUPPORTED;
+            }
+            break;
         default:
             result = MAV_RESULT_UNSUPPORTED;
             break;