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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
This commit is contained in:
Pat Hickey 2012-10-09 18:48:05 -07:00 committed by Michael Oborne
parent 5743418f53
commit 24dcbe1b0e
1 changed files with 15 additions and 1 deletions
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16
ArduCopter/GCS_Mavlink.pde
View File

@ -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;