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commander: add VEHICLE_CMD_SET_NAV_STATE internal command

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Beat Küng 2022-12-05 14:47:55 +01:00
parent af62227a83
commit c99330e6db
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GPG Key ID: 866DB5F0E24821BB
2 changed files with 13 additions and 0 deletions
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1
msg/VehicleCommand.msg
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@ -102,6 +102,7 @@ uint16 VEHICLE_CMD_DO_WINCH = 42600 # Command to operate winch.
# PX4 vehicle commands (beyond 16 bit mavlink commands)
uint32 VEHICLE_CMD_PX4_INTERNAL_START = 65537 # start of PX4 internal only vehicle commands (> UINT16_MAX)
uint32 VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN = 100000 # Sets the GPS coordinates of the vehicle local origin (0,0,0) position. |Empty|Empty|Empty|Empty|Latitude|Longitude|Altitude|
uint32 VEHICLE_CMD_SET_NAV_STATE = 100001 # Change mode by specifying nav_state directly. |nav_state|Empty|Empty|Empty|Empty|Empty|Empty|
uint8 VEHICLE_MOUNT_MODE_RETRACT = 0 # Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization |
uint8 VEHICLE_MOUNT_MODE_NEUTRAL = 1 # Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory. |

12
src/modules/commander/Commander.cpp
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@ -852,6 +852,18 @@ Commander::handle_command(const vehicle_command_s &cmd)
}
break;
case vehicle_command_s::VEHICLE_CMD_SET_NAV_STATE: { // Used from ROS
uint8_t desired_nav_state = (uint8_t)(cmd.param1 + 0.5f);
if (_user_mode_intention.change(desired_nav_state, getSourceFromCommand(cmd))) {
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
}
break;
case vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM: {
// Adhere to MAVLink specs, but base on knowledge that these fundamentally encode ints