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{Sponsored by Intelliterra} Made "Declare Emergency" button send MAV_CMD to set emergency #10770

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{Sponsored by Intelliterra} Made "Declare Emergency" button send MAV_CMD to set emergency #10770

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8f461ed
Emergency button now sends MAV_CMD_DO_SET_EMERGENCY
jnomikos Aug 10, 2023
a8d152b
Merge branch 'mavlink:master' into intelliterra/emergency_button
jnomikos Aug 10, 2023
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17 changes: 16 additions & 1 deletion src/Vehicle/RemoteIDManager.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -414,7 +414,22 @@ void RemoteIDManager::setEmergency(bool declare)
{
_emergencyDeclared = declare;
emit emergencyDeclaredChanged();
// Wether we are starting an emergency or cancelling it, we need to enforce sending

// We send a MAV Command to the vehicle to start or stop the emergency
_vehicle->sendMavCommand(
_vehicle->compId(), // Target component
MAV_CMD_DO_SET_EMERGENCY, // MAV_CMD
true, // ShowError
_emergencyDeclared ? 1 : 0,
0,
0,
0,
0,
0,
0);


// Whether we are starting an emergency or cancelling it, we need to enforce sending
// this message. Otherwise, if non optimal connection quality, vehicle RID device
// could remain in the wrong state. It is clarified to the user in remoteidsettings.qml
_enforceSendingSelfID = true;
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