GGS
/
fwt_software
8
0
Fork 0
Code Issues Pull Requests Packages Projects Releases 1 Wiki Activity

Stop every axis on a bare 'gimbal stop'

This commit is contained in:
pgdalmeida 2026-09-28 12:41:11 +02:00
parent 93f47bd142
commit 8cf3b3b9e9
Signed by: pedro.almeida
GPG Key ID: D4A6C394DF13F1D7
2 changed files with 6 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
src/core/Application.cpp
View File

@ -2200,6 +2200,10 @@ struct Application::Impl {
std::string fw = sub;
for (char& ch : fw) ch = static_cast<char>(std::toupper((unsigned char)ch));
for (size_t i = 2; i < tok.size(); ++i) fw += " " + tok[i];
// A bare `gimbal stop` means every axis. The firmware wants the axis
// named, and answered a bare STOP with "ERR missing argument" - so the
// one command that has to work, did nothing.
if (sub == "stop" && tok.size() == 2) fw = "STOP ALL";
motor->sendCommand(fw);
} else {
LOG_WARN << "unknown gimbal subcommand: " << sub;

4
src/core/HelpText.cpp
View File

@ -95,8 +95,8 @@ const std::vector<HelpSection>& helpCatalog() {
"Run the endstop-finding home sequence (both axes, or one).", {
"Example: gimbal home / gimbal home y"}},
{"gimbal stop [y|p|all]",
"Stop motion immediately.", {
"To cancel a running procedure use 'cancel' (or Esc, or x):",
"Stop motion immediately; bare, every axis. The axis holds where it stops.", {
"To cancel a running procedure use 'cancel' (or Esc, or m):",
"the whole 'gimbal' family is ignored while one is in progress."}},
{"gimbal speed <y|p> <vel>",
"Set the max slew speed (counts/s) for an axis.", {}},