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Teach the commander to arm on the commandline

This commit is contained in:
Lorenz Meier 2014-01-16 10:58:05 +01:00
parent 978cfdccce
commit 62076c0e81
1 changed files with 47 additions and 10 deletions
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57
src/modules/commander/commander.cpp
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@ -154,6 +154,16 @@ static bool on_usb_power = false;
static float takeoff_alt = 5.0f;
static struct vehicle_status_s status;
/* armed topic */
static struct actuator_armed_s armed;
static struct safety_s safety;
/* flags for control apps */
struct vehicle_control_mode_s control_mode;
/* tasks waiting for low prio thread */
typedef enum {
LOW_PRIO_TASK_NONE = 0,
@ -210,6 +220,9 @@ void print_reject_arm(const char *msg);
void print_status();
int arm();
int disarm();
transition_result_t check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_control_mode_s *control_mode, struct vehicle_local_position_s *local_pos);
/**
@ -277,6 +290,16 @@ int commander_main(int argc, char *argv[])
exit(0);
}
if (!strcmp(argv[1], "arm")) {
arm();
exit(0);
}
if (!strcmp(argv[1], "disarm")) {
disarm();
exit(0);
}
usage("unrecognized command");
exit(1);
}
@ -344,6 +367,30 @@ void print_status()
static orb_advert_t control_mode_pub;
static orb_advert_t status_pub;
int arm()
{
int arming_res = arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_ARMED, &armed);
if (arming_res == TRANSITION_CHANGED) {
mavlink_log_info(mavlink_fd, "[cmd] ARMED by commandline");
return 0;
} else {
return 1;
}
}
int disarm()
{
int arming_res = arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_STANDBY, &armed);
if (arming_res == TRANSITION_CHANGED) {
mavlink_log_info(mavlink_fd, "[cmd] ARMED by commandline");
return 0;
} else {
return 1;
}
}
void handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_control_mode_s *control_mode, struct vehicle_command_s *cmd, struct actuator_armed_s *armed)
{
/* result of the command */
@ -537,16 +584,6 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe
}
static struct vehicle_status_s status;
/* armed topic */
static struct actuator_armed_s armed;
static struct safety_s safety;
/* flags for control apps */
struct vehicle_control_mode_s control_mode;
int commander_thread_main(int argc, char *argv[])
{
/* not yet initialized */