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Copter: return appropriate response to failed disarm

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This commit is contained in:
Peter Barker 2016-09-26 22:11:18 +10:00
parent 6e2076a3f1
commit 4d6408857f
1 changed files with 8 additions and 4 deletions
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12
ArduCopter/GCS_Mavlink.cpp
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@ -964,10 +964,14 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
if (copter.init_arm_motors(true)) {
result = MAV_RESULT_ACCEPTED;
}
} else if (is_zero(packet.param1) && (copter.ap.land_complete || is_equal(packet.param2,21196.0f))) {
// force disarming by setting param2 = 21196 is deprecated
copter.init_disarm_motors();
result = MAV_RESULT_ACCEPTED;
} else if (is_zero(packet.param1)) {
if (copter.ap.land_complete || is_equal(packet.param2,21196.0f)) {
// force disarming by setting param2 = 21196 is deprecated
copter.init_disarm_motors();
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
} else {
result = MAV_RESULT_UNSUPPORTED;
}