From cc8c10e5535d52f6f3b32a9c2acc7920963a91c0 Mon Sep 17 00:00:00 2001
From: StaY <stephane.yang@ensea.fr>
Date: Wed, 11 Oct 2023 17:13:34 +0200
Subject: [PATCH] update fly_monitor to add a test version for manual command
(removed the arming part), it will the control command to the drone but the
drone will not answer.
---
.../fly_monitor/src/TestDroneRemoteControl.cpp | 12 +++++++++++-
1 file changed, 11 insertions(+), 1 deletion(-)
diff --git a/Com_server/fly_monitor/src/TestDroneRemoteControl.cpp b/Com_server/fly_monitor/src/TestDroneRemoteControl.cpp
index 2c996b3..d0eda71 100644
--- a/Com_server/fly_monitor/src/TestDroneRemoteControl.cpp
+++ b/Com_server/fly_monitor/src/TestDroneRemoteControl.cpp
@@ -558,6 +558,15 @@ int command_loop()
cout << "\nSet mode to position control" << endl;
drone1.flight_mode = FlightMode::Posctl;
drone1.command_setMode(FlightMode::Posctl);
+ sleep(2);
+ }
+ else if(buffer_command=="manual_test")
+ {
+ // Same as manual, but the drone is not armed -> We can see the sent commands without the drone moving
+ // x, y, z, r = pitch, roll, throttle, yaw
+
+ cout << "\nSet mode to position control" << endl;
+ drone1.flight_mode = FlightMode::Posctl;
}
else if(buffer_command=="tone")
{
@@ -716,7 +725,7 @@ int command_loop()
}
else if (buffer_command=="help" || buffer_command=="h")
{
- // Note: not described commands needs test, refer to MAVSDK if not working
+ // Note: not described commands needs test (not tested yet), refer to MAVSDK if not working
cout << "fly_monitor commands:" << endl;
cout << " mode set manually the mode of the drone" << endl;
cout << " reset reset the mode of the drone" << endl;
@@ -738,6 +747,7 @@ int command_loop()
cout << " k terminate flight immediately, may cause crash landing" << endl;
cout << " !k reset the drone after a flight termination" << endl;
cout << " manual set the drone to 'position control' mode, it will be controlled by shared memory" << endl;
+ cout << " manual_test same as manual mode but the drone will not move (no arming)" << endl;
cout << " tone make the autopilot play a certain tone" << endl;
cout << " c playground for printing" << endl; // c for check
cout << " msg request one specific MAVLink message from the autopilot" << endl;
--
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