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Commander: use parameters directly in ManualControl

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This commit is contained in:
Matthias Grob
2021-02-16 08:45:33 +01:00
parent dda895c94b
commit 0e1f1a9f57
4 changed files with 19 additions and 18 deletions
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src/modules/commander/Commander.cpp
+2 -4
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@@ -2096,11 +2096,9 @@ Commander::run()
}
// abort autonomous mode and switch to position mode if sticks are moved significantly
if ((_param_rc_override.get() != 0)
&& (_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING)
if ((_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING)
&& !in_low_battery_failsafe && !_geofence_warning_action_on
&& _manual_control.wantsOverride(_param_rc_override.get(), _param_com_rc_stick_ov.get(), _vehicle_control_mode,
!_status.rc_signal_lost)) {
&& _manual_control.wantsOverride(_vehicle_control_mode, !_status.rc_signal_lost)) {
if (main_state_transition(_status, commander_state_s::MAIN_STATE_POSCTL, _status_flags,
&_internal_state) == TRANSITION_CHANGED) {
tune_positive(true);