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Copter: Handle MAV_CMD_NAV_TAKEOFF command to takeoff in guided mode only

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ggregory8 2014-08-04 22:10:36 +08:00 committed by Randy Mackay
parent 3832c46998
commit e8b0c7a7e7
1 changed files with 17 additions and 0 deletions
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17
ArduCopter/GCS_Mavlink.pde
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@ -1000,6 +1000,23 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
switch(packet.command) { switch(packet.command) {
case MAV_CMD_NAV_TAKEOFF:
// param4 : yaw angle (not supported)
// param5 : latitude (not supported)
// param6 : longitude (not supported)
// param7 : altitude [metres]
if (motors.armed() && control_mode == GUIDED) {
set_auto_armed(true);
float takeoff_alt = packet.param7 * 100; // Convert m to cm
takeoff_alt = max(takeoff_alt,current_loc.alt);
takeoff_alt = max(takeoff_alt,100.0f);
guided_takeoff_start(takeoff_alt);
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
break;
case MAV_CMD_NAV_LOITER_UNLIM: case MAV_CMD_NAV_LOITER_UNLIM:
if (set_mode(LOITER)) { if (set_mode(LOITER)) {
result = MAV_RESULT_ACCEPTED; result = MAV_RESULT_ACCEPTED;