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Improve config and mapping

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Lorenz Meier
2015-05-24 20:10:35 +02:00
parent 2bb655c46c
commit 009815deb0
4 changed files with 27 additions and 17 deletions
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src/modules/commander/commander.cpp
+7 -5
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@@ -889,7 +889,7 @@ int commander_thread_main(int argc, char *argv[])
status.condition_landed = true; // initialize to safe value
// We want to accept RC inputs as default
status.rc_input_blocked = false;
status.rc_input_off = false;
status.rc_input_off = vehicle_status_s::RC_IN_MODE_DEFAULT;
status.main_state =vehicle_status_s::MAIN_STATE_MANUAL;
status.nav_state = vehicle_status_s::NAVIGATION_STATE_MANUAL;
status.arming_state = vehicle_status_s::ARMING_STATE_INIT;
@@ -1237,7 +1237,7 @@ int commander_thread_main(int argc, char *argv[])
param_get(_param_datalink_loss_timeout, &datalink_loss_timeout);
param_get(_param_rc_loss_timeout, &rc_loss_timeout);
param_get(_param_rc_in_off, &rc_in_off);
status.rc_input_off = (rc_in_off == vehicle_status_s::RC_IN_MODE_OFF);
status.rc_input_off = rc_in_off;
param_get(_param_datalink_regain_timeout, &datalink_regain_timeout);
param_get(_param_ef_throttle_thres, &ef_throttle_thres);
param_get(_param_ef_current2throttle_thres, &ef_current2throttle_thres);
@@ -1310,7 +1310,8 @@ int commander_thread_main(int argc, char *argv[])
}
/* provide RC and sensor status feedback to the user */
(void)Commander::preflightCheck(mavlink_fd, true, true, true, true, chAirspeed, !status.rc_input_off, !status.circuit_breaker_engaged_gpsfailure_check);
(void)Commander::preflightCheck(mavlink_fd, true, true, true, true, chAirspeed,
!(status.rc_input_off == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check);
}
telemetry_last_heartbeat[i] = telemetry.heartbeat_time;
@@ -1712,7 +1713,7 @@ int commander_thread_main(int argc, char *argv[])
} // no reset is done here on purpose, on geofence violation we want to stay in flighttermination
/* RC input check */
if (!status.rc_input_off && !status.rc_input_blocked && sp_man.timestamp != 0 &&
if (!(status.rc_input_off == vehicle_status_s::RC_IN_MODE_OFF) && !status.rc_input_blocked && sp_man.timestamp != 0 &&
hrt_absolute_time() < sp_man.timestamp + (uint64_t)(rc_loss_timeout * 1e6f)) {
/* handle the case where RC signal was regained */
if (!status.rc_signal_found_once) {
@@ -2775,7 +2776,8 @@ void *commander_low_prio_loop(void *arg)
checkAirspeed = true;
}
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, !status.rc_input_off, !status.circuit_breaker_engaged_gpsfailure_check);
status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed,
!(status.rc_input_off == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check);
arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed, false /* fRunPreArmChecks */, mavlink_fd);