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commander: print reason for mode rejection & report for GCS switches as well

This commit is contained in:
Beat Küng 2022-09-05 08:21:04 +02:00 committed by Daniel Agar
parent e4bb219d10
commit 500a896a56
1 changed files with 9 additions and 3 deletions
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12
src/modules/commander/Commander.cpp
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@ -814,6 +814,10 @@ Commander::handle_command(const vehicle_command_s &cmd)
main_ret = TRANSITION_CHANGED;
} else {
if (cmd.from_external && cmd.source_component == 190) { // MAV_COMP_ID_MISSIONPLANNER
print_reject_mode(desired_nav_state);
}
main_ret = TRANSITION_DENIED;
}
}
@ -2420,11 +2424,13 @@ Commander::print_reject_mode(uint8_t nav_state)
mavlink_log_critical(&_mavlink_log_pub, "Switching to %s is currently not available\t",
mode_util::nav_state_names[nav_state]);
px4_custom_mode custom_mode = get_px4_custom_mode(nav_state);
uint32_t mavlink_mode = custom_mode.data;
/* EVENT
* @description Check for a valid position estimate
* @type append_health_and_arming_messages
*/
events::send<events::px4::enums::navigation_mode_t>(events::ID("commander_modeswitch_not_avail"), {events::Log::Critical, events::LogInternal::Info},
"Switching to mode '{1}' is currently not possible", mode_util::navigation_mode(nav_state));
events::send<uint32_t, events::px4::enums::navigation_mode_t>(events::ID("commander_modeswitch_not_avail"), {events::Log::Critical, events::LogInternal::Info},
"Switching to mode '{2}' is currently not possible", mavlink_mode, mode_util::navigation_mode(nav_state));
/* only buzz if armed, because else we're driving people nuts indoors
they really need to look at the leds as well. */