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GCS_MAVLink: correct response codes when mode change fails #14255

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merged 2 commits into from
Nov 23, 2020
Merged

GCS_MAVLink: correct response codes when mode change fails #14255

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0f7f629
GCS_MAVLink: correct response codes when mode change fails
peterbarker May 2, 2020
be46310
autotest: correct test for mode-change-reason change
peterbarker May 4, 2020
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18 changes: 15 additions & 3 deletions Tools/autotest/arducopter.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3476,13 +3476,25 @@ def fly_manual_throttle_mode_change(self):
self.watch_altitude_maintained(-1, 0.2) # should not take off in guided
self.run_cmd_do_set_mode(
"ACRO",
want_result=mavutil.mavlink.MAV_RESULT_UNSUPPORTED) # should fix this result code!
want_result=mavutil.mavlink.MAV_RESULT_FAILED)
self.run_cmd_do_set_mode(
"STABILIZE",
want_result=mavutil.mavlink.MAV_RESULT_UNSUPPORTED) # should fix this result code!
want_result=mavutil.mavlink.MAV_RESULT_FAILED)
self.run_cmd_do_set_mode(
"DRIFT",
want_result=mavutil.mavlink.MAV_RESULT_UNSUPPORTED) # should fix this result code!
want_result=mavutil.mavlink.MAV_RESULT_FAILED)
self.progress("Check setting an invalid mode")
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SET_MODE,
mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED,
126,
0,
0,
0,
0,
0,
want_result=mavutil.mavlink.MAV_RESULT_FAILED,
timeout=1
)
self.set_rc(3, 1000)
self.run_cmd_do_set_mode("ACRO")
self.wait_disarmed()
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25 changes: 17 additions & 8 deletions libraries/GCS_MAVLink/GCS_Common.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2169,27 +2169,36 @@ void GCS_MAVLINK::handle_set_mode(const mavlink_message_t &msg)
*/
MAV_RESULT GCS_MAVLINK::_set_mode_common(const MAV_MODE _base_mode, const uint32_t _custom_mode)
{
MAV_RESULT result = MAV_RESULT_UNSUPPORTED;
// only accept custom modes because there is no easy mapping from Mavlink flight modes to AC flight modes
if (uint32_t(_base_mode) & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED) {
if (AP::vehicle()->set_mode(_custom_mode, ModeReason::GCS_COMMAND)) {
result = MAV_RESULT_ACCEPTED;
if (!AP::vehicle()->set_mode(_custom_mode, ModeReason::GCS_COMMAND)) {
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if a has_mode() check coudl be done, and it's true, but we fail to set the mode, then we could return MAV_RESULT_TEMPORARILY_REJECTED

// often we should be returning DENIED rather than FAILED
// here. Perhaps a "has_mode" callback on AP_::vehicle()
// would do?
return MAV_RESULT_FAILED;
}
} else if (_base_mode == (MAV_MODE)MAV_MODE_FLAG_DECODE_POSITION_SAFETY) {
return MAV_RESULT_ACCEPTED;
}

if (_base_mode == (MAV_MODE)MAV_MODE_FLAG_DECODE_POSITION_SAFETY) {
// set the safety switch position. Must be in a command by itself
if (_custom_mode == 0) {
// turn safety off (pwm outputs flow to the motors)
hal.rcout->force_safety_off();
result = MAV_RESULT_ACCEPTED;
} else if (_custom_mode == 1) {
return MAV_RESULT_ACCEPTED;
}
if (_custom_mode == 1) {
// turn safety on (no pwm outputs to the motors)
if (hal.rcout->force_safety_on()) {
result = MAV_RESULT_ACCEPTED;
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
}
return MAV_RESULT_DENIED;
}

return result;
// Command is invalid (is supported but has invalid parameters)
return MAV_RESULT_DENIED;
}

/*
Expand Down