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APMRover : Updated handle_guided_request() to report error.

This commit is contained in:
Niti Rohilla 2016-04-26 15:47:40 +05:30 committed by Lucas De Marchi
parent a03941ba02
commit 409a7e1c97
1 changed files with 3 additions and 2 deletions
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5
APMrover2/GCS_Mavlink.cpp
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@ -835,11 +835,11 @@ GCS_MAVLINK::data_stream_send(void)
void GCS_MAVLINK::handle_guided_request(AP_Mission::Mission_Command &cmd) bool GCS_MAVLINK::handle_guided_request(AP_Mission::Mission_Command &cmd)
{ {
if (rover.control_mode != GUIDED) { if (rover.control_mode != GUIDED) {
// only accept position updates when in GUIDED mode // only accept position updates when in GUIDED mode
return; return false;
} }
rover.guided_WP = cmd.content.location; rover.guided_WP = cmd.content.location;
@ -847,6 +847,7 @@ void GCS_MAVLINK::handle_guided_request(AP_Mission::Mission_Command &cmd)
// make any new wp uploaded instant (in case we are already in Guided mode) // make any new wp uploaded instant (in case we are already in Guided mode)
rover.rtl_complete = false; rover.rtl_complete = false;
rover.set_guided_WP(); rover.set_guided_WP();
return true;
} }
void GCS_MAVLINK::handle_change_alt_request(AP_Mission::Mission_Command &cmd) void GCS_MAVLINK::handle_change_alt_request(AP_Mission::Mission_Command &cmd)