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ArduPlane : Updated handle_guided_request() to report error.

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This commit is contained in:
Niti Rohilla 2016-04-26 15:47:02 +05:30 committed by Lucas De Marchi
parent 867360c350
commit a03941ba02
1 changed files with 3 additions and 2 deletions
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ArduPlane/GCS_Mavlink.cpp
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@ -1104,11 +1104,11 @@ GCS_MAVLINK::data_stream_send(void)
handle a request to switch to guided mode. This happens via a handle a request to switch to guided mode. This happens via a
callback from handle_mission_item() callback from handle_mission_item()
*/ */
void GCS_MAVLINK::handle_guided_request(AP_Mission::Mission_Command &cmd) bool GCS_MAVLINK::handle_guided_request(AP_Mission::Mission_Command &cmd)
{ {
if (plane.control_mode != GUIDED) { if (plane.control_mode != GUIDED) {
// only accept position updates when in GUIDED mode // only accept position updates when in GUIDED mode
return; return false;
} }
plane.guided_WP_loc = cmd.content.location; plane.guided_WP_loc = cmd.content.location;
@ -1119,6 +1119,7 @@ void GCS_MAVLINK::handle_guided_request(AP_Mission::Mission_Command &cmd)
} }
plane.set_guided_WP(); plane.set_guided_WP();
return true;
} }
/* /*