commander: make sure all code paths return an (n)ack to MAV_CMD_PREFL…

…IGHT_CALIBRATION
PX4 · Jan 11, 2017 · dd94b26 · dd94b26
1 parent 8cd913c
commit dd94b26
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
@@ -4024,14 +4024,15 @@ void *commander_low_prio_loop(void *arg)
 					} else if ((int)(cmd.param4) == 0) {
 						/* RC calibration ended - have we been in one worth confirming? */
 						if (status_flags.rc_input_blocked) {
-							answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED, command_ack_pub, command_ack);
 							/* enable RC control input */
 							status_flags.rc_input_blocked = false;
 							mavlink_log_info(&mavlink_log_pub, "CAL: Re-enabling RC IN");
-							calib_ret = OK;
 						}
+						answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED, command_ack_pub, command_ack);
 						/* this always succeeds */
 						calib_ret = OK;
+					} else {
+						answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_UNSUPPORTED, command_ack_pub, command_ack);
 					}
 
 					status_flags.condition_calibration_enabled = false;