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IMTQ Commanding Fix #430

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muellerr merged 9 commits from imtq-cmd-fix into develop 2023-03-04 17:07:07 +01:00
Conversation 0 Commits 9 Files Changed 11 +11 -10
1 changed files with 11 additions and 10 deletions
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21
mission/devices/ImtqHandler.cpp
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@ -194,17 +194,18 @@ ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
ImtqRequest request(commandBuffer, sizeof(commandBuffer));
// Commands override anything which was set in the software
if (commandData != nullptr) {
// Read set dipole values from local pool
{
PoolReadGuard pg(&dipoleSet);
int16_t xDipole = 0, yDipole = 0, zDipole = 0;
uint16_t torqueDuration = 0;
dipoleSet.xDipole = xDipole;
dipoleSet.yDipole = yDipole;
dipoleSet.zDipole = zDipole;
dipoleSet.currentTorqueDurationMs = torqueDuration;
// Commands override anything which was set in the software
if (commandData != nullptr) {
dipoleSet.setValidityBufferGeneration(false);
ReturnValue_t result = dipoleSet.deSerialize(&commandData, &commandDataLen,
SerializeIF::Endianness::NETWORK);
dipoleSet.setValidityBufferGeneration(true);
if (result != returnvalue::OK) {
return result;
}
}
}
request.setActuateRequest(dipoleSet.xDipole.value, dipoleSet.yDipole.value,