FlightTasks: comment out mavlink command processing

because upstream there needs to be a
common mavlink command definition first
and then it can be easily reenabled again

src/lib/FlightTasks/FlightTasks.cpp

@@ -113,62 +113,63 @@ int FlightTasks::switchTask(int new_task_index)
 
 void FlightTasks::_updateCommand()
 {
-	/* lazy subscription to command topic */
-	if (_sub_vehicle_command < 0) {
-		_sub_vehicle_command = orb_subscribe(ORB_ID(vehicle_command));
-	}
-
-	/* check if there's any new command */
-	bool updated = false;
-	orb_check(_sub_vehicle_command, &updated);
-
-	if (!updated) {
-		return;
-	}
-
-	/* check if command is for flight task library */
-	struct vehicle_command_s command;
-	orb_copy(ORB_ID(vehicle_command), _sub_vehicle_command, &command);
-
-	if (command.command != vehicle_command_s::VEHICLE_CMD_FLIGHT_TASK) {
-		return;
-	}
-
-	/* evaluate command */
-	// TODO: remapping of the Mavlink definition to the internal tasks necessary
-	int switch_result = switchTask(int(command.param1 + 0.5f));
-	uint8_t cmd_result = vehicle_command_ack_s::VEHICLE_RESULT_FAILED;
-
-	/* if we are in the desired task */
-	if (switch_result >= 0) {
-		cmd_result = vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED;
-
-		/* if the task is running apply parameters to it and see if it rejects */
-		if (isAnyTaskActive() && !_current_task->applyCommandParameters(command)) {
-			cmd_result = vehicle_command_ack_s::VEHICLE_RESULT_DENIED;
-
-			/* if we just switched and parameters are not accepted, go to failsafe */
-			if (switch_result == 1) {
-				switchTask(-1);
-				cmd_result = vehicle_command_ack_s::VEHICLE_RESULT_FAILED;
-			}
-		}
-	}
-
-	/* send back acknowledgment */
-	vehicle_command_ack_s command_ack = {};
-	command_ack.command = command.command;
-	command_ack.result = cmd_result;
-	command_ack.result_param1 = switch_result;
-	command_ack.target_system = command.source_system;
-	command_ack.target_component = command.source_component;
-
-	if (_pub_vehicle_command_ack == nullptr) {
-		_pub_vehicle_command_ack = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack,
-					   vehicle_command_ack_s::ORB_QUEUE_LENGTH);
-
-	} else {
-		orb_publish(ORB_ID(vehicle_command_ack), _pub_vehicle_command_ack, &command_ack);
-
-	}
+//	TODO: port flight task mavlink command to have support for this functionality
+//	/* lazy subscription to command topic */
+//	if (_sub_vehicle_command < 0) {
+//		_sub_vehicle_command = orb_subscribe(ORB_ID(vehicle_command));
+//	}
+//
+//	/* check if there's any new command */
+//	bool updated = false;
+//	orb_check(_sub_vehicle_command, &updated);
+//
+//	if (!updated) {
+//		return;
+//	}
+//
+//	/* check if command is for flight task library */
+//	struct vehicle_command_s command;
+//	orb_copy(ORB_ID(vehicle_command), _sub_vehicle_command, &command);
+//
+//	if (command.command != vehicle_command_s::VEHICLE_CMD_FLIGHT_TASK) {
+//		return;
+//	}
+//
+//	/* evaluate command */
+//	// TODO: remapping of the Mavlink definition to the internal tasks necessary
+//	int switch_result = switchTask(int(command.param1 + 0.5f));
+//	uint8_t cmd_result = vehicle_command_ack_s::VEHICLE_RESULT_FAILED;
+//
+//	/* if we are in the desired task */
+//	if (switch_result >= 0) {
+//		cmd_result = vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED;
+//
+//		/* if the task is running apply parameters to it and see if it rejects */
+//		if (isAnyTaskActive() && !_current_task->applyCommandParameters(command)) {
+//			cmd_result = vehicle_command_ack_s::VEHICLE_RESULT_DENIED;
+//
+//			/* if we just switched and parameters are not accepted, go to failsafe */
+//			if (switch_result == 1) {
+//				switchTask(-1);
+//				cmd_result = vehicle_command_ack_s::VEHICLE_RESULT_FAILED;
+//			}
+//		}
+//	}
+//
+//	/* send back acknowledgment */
+//	vehicle_command_ack_s command_ack = {};
+//	command_ack.command = command.command;
+//	command_ack.result = cmd_result;
+//	command_ack.result_param1 = switch_result;
+//	command_ack.target_system = command.source_system;
+//	command_ack.target_component = command.source_component;
+//
+//	if (_pub_vehicle_command_ack == nullptr) {
+//		_pub_vehicle_command_ack = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack,
+//					   vehicle_command_ack_s::ORB_QUEUE_LENGTH);
+//
+//	} else {
+//		orb_publish(ORB_ID(vehicle_command_ack), _pub_vehicle_command_ack, &command_ack);
+//
+//	}
 }

src/lib/FlightTasks/FlightTasks.hpp

@@ -152,6 +152,6 @@ private:
 	 * Check for vehicle commands (received via MAVLink), evaluate and acknowledge them
 	 */
 	void _updateCommand();
-	int _sub_vehicle_command = -1; /**< topic handle on which commands are received */
-	orb_advert_t _pub_vehicle_command_ack = nullptr; /**< topic handle to which commands get acknowledged */
+//	int _sub_vehicle_command = -1; /**< topic handle on which commands are received */
+//	orb_advert_t _pub_vehicle_command_ack = nullptr; /**< topic handle to which commands get acknowledged */
 };