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GCS_MAVLink: handle MAV_CMD_COMPONENT_ARM_DISARM

This commit is contained in:
Peter Barker 2019-05-03 21:26:03 +10:00 committed by Randy Mackay
parent d67e68eb03
commit b857d2c1af
1 changed files with 19 additions and 0 deletions
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19
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -16,6 +16,7 @@
*/
#include <AP_AHRS/AP_AHRS.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_Arming/AP_Arming.h>
#include <AP_InternalError/AP_InternalError.h>
#include <AP_Logger/AP_Logger.h>
#include <AP_OpticalFlow/AP_OpticalFlow.h>
@ -3961,6 +3962,24 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
result = handle_flight_termination(packet);
break;
case MAV_CMD_COMPONENT_ARM_DISARM:
if (is_equal(packet.param1,1.0f)) {
// run pre_arm_checks and arm_checks and display failures
const bool do_arming_checks = !is_equal(packet.param2,magic_force_arm_value);
if (AP::arming().arm(AP_Arming::Method::MAVLINK, do_arming_checks)) {
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
}
if (is_zero(packet.param1)) {
if (AP::arming().disarm()) {
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
}
return MAV_RESULT_UNSUPPORTED;
default:
result = MAV_RESULT_UNSUPPORTED;
break;