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Commander - Remove old code that overrides state_machine_helper logic

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bresch 2018-08-07 10:40:24 +02:00 committed by Mathieu Bresciani
parent 6d8d8e3c88
commit 02f0533ee9
1 changed files with 0 additions and 55 deletions
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55
src/modules/commander/Commander.cpp
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@ -2227,61 +2227,6 @@ Commander::run()
}
}
/* Check for failure combinations which lead to flight termination */
if (armed.armed &&
!status_flags.circuit_breaker_flight_termination_disabled) {
/* At this point the data link and the gps system have been checked
* If we are not in a manual (RC stick controlled mode)
* and both failed we want to terminate the flight */
if (internal_state.main_state != commander_state_s::MAIN_STATE_MANUAL &&
internal_state.main_state != commander_state_s::MAIN_STATE_ACRO &&
internal_state.main_state != commander_state_s::MAIN_STATE_RATTITUDE &&
internal_state.main_state != commander_state_s::MAIN_STATE_STAB &&
internal_state.main_state != commander_state_s::MAIN_STATE_ALTCTL &&
internal_state.main_state != commander_state_s::MAIN_STATE_POSCTL &&
status.data_link_lost) {
armed.force_failsafe = true;
status_changed = true;
static bool flight_termination_printed = false;
if (!flight_termination_printed) {
mavlink_log_critical(&mavlink_log_pub, "DL and GPS lost: flight termination");
flight_termination_printed = true;
}
if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
mavlink_log_critical(&mavlink_log_pub, "DL and GPS lost: flight termination");
}
}
/* At this point the rc signal and the gps system have been checked
* If we are in manual (controlled with RC):
* if both failed we want to terminate the flight */
if ((internal_state.main_state == commander_state_s::MAIN_STATE_ACRO ||
internal_state.main_state == commander_state_s::MAIN_STATE_RATTITUDE ||
internal_state.main_state == commander_state_s::MAIN_STATE_MANUAL ||
internal_state.main_state == commander_state_s::MAIN_STATE_STAB ||
internal_state.main_state == commander_state_s::MAIN_STATE_ALTCTL ||
internal_state.main_state == commander_state_s::MAIN_STATE_POSCTL) &&
status.rc_signal_lost) {
armed.force_failsafe = true;
status_changed = true;
static bool flight_termination_printed = false;
if (!flight_termination_printed) {
warnx("Flight termination because of RC signal loss and GPS failure");
flight_termination_printed = true;
}
if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
mavlink_log_critical(&mavlink_log_pub, "RC and GPS lost! Flight terminated");
}
}
}
/* Check for failure detector status */
if (armed.armed) {