Set mode #53
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Set mode #53
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oldmud0
reviewed
May 6, 2019
| const MAV_CMD_DO_SET_MODE = 176; | ||
| const MAV_RESULT_ACCEPTED = 0; | ||
| const MAV_RESULT_TEMPORARILY_REJECTED = 1; | ||
| const MAV_RESULT_IN_PROGRESS = 5; |
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Frankly, I don't know what to do with all these constants
| if (fields.type !== MAV_TYPE_FIXED_WING) | ||
| logger.warn(`Unknown autopilot ${fields.autopilot}`); | ||
| if (fields.autopilot !== MAV_AUTOPILOT_ARDUPILOTMEGA) | ||
| logger.warn(`Unknown vehicle type ${fields.type}`); |
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These error messages are swapped
| await cleanupObj.wait(); | ||
| } | ||
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| async function _sendCommandLong(mav, modeNumber, confirmation) { |
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The name of this function is a little misleading since it's hardcoded to set MAV_CMD_DO_SET_MODE.
We should just abstract the whole COMMAND_LONG procedure to its own function, and then have sendMode call that procedure.
| || fields.result === MAV_RESULT_IN_PROGRESS) { | ||
| return; | ||
| } else { | ||
| let err = Error('COMMAND_ACK returned CMD ID ' + fields.result); |
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Suggested change
| let err = Error('COMMAND_ACK returned CMD ID ' + fields.result); | |
| let err = Error('COMMAND_ACK returned CMD ID ' + fields.result); | |
| const err = new Error(`Plane responded to mode request with error code ${fields.result}`); |
| @@ -193,6 +194,7 @@ test('get overview telemetry', async () => { | |||
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| expect(res.status).toEqual(200); | |||
| expect(res.body.pos.lat).toBeTruthy(); | |||
| expect(res.body.mode.name).toEqual('MANUAL'); | |||
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We need test coverage for setting the mode
| 6: 'FBWB', | ||
| 7: 'CRUISE', | ||
| 8: 'AUTOTUNE', | ||
| 10: 'AUTO', |
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what did they do to mode 9... o_o
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This may destabilize telemetry and is not currently needed by any services, so I will merge this after competition. |
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Got the current mode of the plane as a string and set it in the telemetry overview protobuf message.